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perl -wle '
use URI;
my $uri = URI->new_abs("../foo/bar/baz.html", "http://www.foo.de/");
print $uri->canonical;
'

http://www.foo.de/../foo/bar/baz.html

Quote

$uri = URI->new_abs( $str, $base_uri )
Constructs a new absolute URI object.
The $str argument can denote
a relative or absolute URI. If relative, then it is absolutized
using $base_uri as base. The $base_uri must be an absolute URI.