PROBLEM TO BE SOLVED: To reduce the possibility of mistaking boundary line candidates markedly deviating from a real boundary line as boundary lines even when the real boundary line cannot be extracted as a boundary line candidate.SOLUTION: A virtual boundary line candidate V2 lying along the real boundary line candidate R2 of an n-th picked-up image Fnwithout duplication is set by a virtual boundary line candidate setting unit. Where a position predicting unit supposes that the virtual boundary line candidate V2 and the like to be boundary lines, an n-th picked-up image of an n-th marker M (Tn) recognized by a predicted position m(Tn) of the n-th picked-up image Fnand the like are predicted, and a boundary line recognizing unit recognizes some of the virtual boundary line candidate V2 and the like as the boundary line B on the basis of comparison of a predicted position m(Tn) of the n-th marker M (Tn) and an extracted position M(Tn) of the n-th marker M(Tn) extracted from the n-th picked-up image.SELECTED DRAWING: Figure 8

    【課題】現実の境界線を境界線候補として抽出できない場合でも、現実の境界線から大幅に乖離した境界線候補を境界線と誤認識する可能性を低減する。【解決手段】仮想境界線候補設定部により、第n1撮像画像Fn1の実境界線候補R2に重複せずに沿った仮想境界線候補V2が設定される。位置予測部により、仮想境界線候補V2等が境界線であると仮定した場合において、第n1撮像画像Fn1で認識される第n1マーカーM(Tn1)の第n2撮像画像における予測位置mV2(Tn2)等が予測され、境界線認識部により、予測された第n1マーカーM(Tn1)の予測位置mV2(Tn2)と、第n2撮像画像から抽出された第n1マーカーM(Tn1)の抽出位置M(Tn2)との比較に基づいて、仮想境界線候補V2等のいずれかが境界線Bとして認識される。【選択図】図8


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    Title :

    ROAD BOUNDARY LINE RECOGNIZING DEVICE, AND ROAD BOUNDARY LINE RECOGNIZING METHOD


    Additional title:

    道路境界線認識装置及び道路境界線認識方法


    Contributors:

    Publication date :

    2016-07-11


    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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