Scan. We want to build the equivalent of a laser scan using the segmentation line we have calculated and our knowledge of the correlation between pixel location on an image and distance away from the camera. Some Trig. Δ y sin( θ ). f / cos ( θ ). y o. θ. f. α. Δ y. θ. Δ y cos ( θ ).
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f / cos(θ)
For a fixed horizon:
For non-fixed horizon: