PROBLEM TO BE SOLVED: To provide a lane boundary detection apparatus for properly detecting a parameter which indicates a lane boundary.SOLUTION: A lane boundary detection apparatus 1 includes: a determination section 42 which determines a composite line area and a non-composite line area separately from a road surface image; a calculation section 44 which calculates candidates of the center point of a composite line in the composite line area in the road surface image when the determination section 42 determines the composite line area; an extraction section 43 which extracts a lane boundary point from a lane boundary line segment in the non-composite line area in the road surface image when the determination section determines the non-composite line area; an integration section 45 which generates an integrated lane boundary point group, on the basis of the candidates of the center point of the composite line calculated by the calculation section 44 and the lane boundary point extracted by the extraction section 43; and an estimation section 46 which estimates a lane boundary parameter indicating a lane boundary, on the basis of the integrated lane boundary point group generated by the integration section 45.

    【課題】車線境界線を表すパラメータを適正に検出することができる車線境界線検出装置を提供することを目的とする。【解決手段】車線境界線検出装置1は、走行路面画像から複合線領域と非複合線領域とを区別して判定する判定部42と、判定部42によって複合線領域であると判定された場合に、走行路面画像の複合線領域内で複合線の中央点の候補点を算出する算出部44と、判定部42によって非複合線領域であると判定された場合に、走行路面画像の非複合線領域内で車線境界線分から車線境界点を抽出する抽出部43と、算出部44によって算出される複合線の中央点の候補点と抽出部43によって抽出される車線境界点とに基づいて統合車線境界点群を生成する統合部45と、統合部45によって生成された統合車線境界点群に基づいて、車線境界線を表す車線境界線パラメータを推定する推定部46とを備える。【選択図】図1


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    Title :

    LANE BOUNDARY DETECTION APPARATUS


    Additional title:

    車線境界線検出装置


    Contributors:

    Publication date :

    2015-08-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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