PROBLEM TO BE SOLVED: To provide a traffic lane identification device that improves accuracy of a straight line detection.SOLUTION: A traffic lane identification device comprises: a straight line detection unit that extracts a plurality of lines defining a traffic lane of a road from an image and performs a Hough transformation to each of the lines; a first tournament processing unit that divides a Hough space obtained by the Hough transformation for each prescribed angle, detects the number of respective votes with respect to a plurality of intersections of a Hough curve in the Hough space divided for each prescribed angle, and identifies the intersection in which the number of votes is topped; and a second tournament processing unit that selects a prescribed number of intersections in descending order of the number of votes out of the intersections having the number of votes topped, and thereby identifies a plurality of approximation straight lines approximate to each of the plurality of lines. The plurality of identified approximation straight lines are identified as the traffic lane.
【課題】直線検出の精度を高めた車線識別装置を提供する。【解決手段】画像から道路の車線を規定する複数のラインを抽出し、それぞれに対してハフ変換を施す直線検出部と、ハフ変換により得られるハフ空間を所定の角度ごとに分割し、所定の角度ごとに分割されたハフ空間におけるハフ曲線の複数の交点に対して、それぞれの投票数を検出し、投票数が最上位となる交点を特定する第1トーナメント処理部と、投票数が最上位となる交点のうち、投票数の多い順に所定数を選択することで、複数のラインのそれぞれに近似する複数の近似直線を特定する第2トーナメント処理部と、を備え、特定された前記複数の近似直線を前記車線として識別する。【選択図】図6
TRAFFIC LANE IDENTIFICATION DEVICE AND TRAFFIC LANE IDENTIFICATION METHOD
車線識別装置および車線識別方法
2015-07-06
Patent
Electronic Resource
Japanese
TRAFFIC LANE IDENTIFICATION DEVICE AND TRAFFIC LANE IDENTIFICATION METHOD
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