To provide a compartment line detecting device capable of properly extracting a compartment line even if the compartment line contains a blur.SOLUTION: A compartment line detecting device 1 acquires point-group data from a point-group data generating device 2 to generate three-dimensional coordinates of a road as point-group data based on reflected light of a laser beam emitting toward a road where a dolly moves, and detects a road compartment line based on the acquired point-group data. The compartment line detecting device comprises direction vector estimation means 103 to estimate the direction vector of the compartment line based on the reflection intensity of the reflection light in the acquired point-group data, center point calculation means 104 to project the point-group data included in a prescribed interval along the direction vector estimated by the direction vector estimation means 103 and to calculate the center point of the compartment line based on the reflection intensity of the projected point-group data, and compartment line determination means 105 to determine the compartment line based on the direction vector and the center point.SELECTED DRAWING: Figure 1
【課題】区画線にかすれが含まれている場合でも適切に区画線を抽出する。【解決手段】台車が移動する道路に対して照射したレーザー光の反射光に基づいて道路の3次元座標を点群データとして生成する点群データ生成装置2から、点群データを取得し、取得した点群データに基づいて道路の区画線を検出する区画線検出装置1であって、取得した点群データにおける反射光の反射強度に基づいて、区画線の方向ベクトルを推定する方向ベクトル推定手段103と、方向ベクトル推定手段103により推定された方向ベクトルに沿って所定の間隔に含まれる点群データを投影し、投影した点群データの反射強度に基づいて区画線の中心点を算出する中心点算出手段104と、方向ベクトルと中心点とに基づいて、区画線を決定する区画線決定手段105と、を備える。【選択図】 図1
COMPARTMENT LINE DETECTING DEVICE AND COMPARTMENT LINE DETECTING PROGRAM
区画線検出装置および区画線検出プログラム
2022-06-24
Patent
Elektronische Ressource
Japanisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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