A 3D road geometry reconstruction system using on-board camera for vehicle driver assistance is developed.Given calibration of the camera,3D structure of the road in front of the vehicle is built via multiple vanishing points estimation and local parallelism of the road.The road will be modeled as a piecewise linear approximation of space curve.Vanishing points are estimated through line grouping and histogram method in the image.The system is not restricted to the roads which lie on 2D plane,but also is capable of recovering a full 3D geometry.The ambiguity of distance（scale）is resolved by usage of parallel line segments on the road image.
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