This paper presents a road reconstruction algorithm based on two-view geometry. A general geometric model for both planar and nonplanar scenes is proposed with respect to a reference plane. Then, points in the scene can be described geometrically by the projective parallax with respect to the reference plane. In practice, the grounding plane of the vehicle is selected as the reference plane. A row-wise image registration method is proposed to estimate the parallax information effectively. Based on the geometric model, points in the scene can be reconstructed as relative position and height information with respect to the reference plane. For road detection, the scene can be segmented where the height changes abruptly. Then, the road region is obtained by a diffusion strategy. The road surface can be reconstructed using the proposed model. Experiments are conducted to show the effectiveness and robustness of the proposed approach. The proposed approach is general in the sense that it does not rely on the priors of road appearance and structure, and it is not restricted to specific stereo camera configurations making it extendable to other multicamera systems.