PROBLEM TO BE SOLVED: To provide a road surface sign detection apparatus and a road surface sign detection method, which measure the length of a line segment highly accurately even in the case of a stop line being discontinuous and detect the stop line with better accuracy on the basis of the aforementioned length.SOLUTION: An apparatus performs: picking up surroundings of a mobile body including ahead thereof; generating a view-point conversion image by view-point-converting the pickup image; extracting a feature edge from the view-point conversion image; extracting plural line components in which feature edges are continuous linearly; combining together a set of line components whose positions and inclinations are within respective given ranges, the line components of the plural line components; and detecting a stop line on the basis of the length of the combined line component.SELECTED DRAWING: Figure 2
【課題】停止線が不連続になった場合でも高精度に線分の長さを測り、この長さに基づいてより正確に停止線を検出する路面標示検出装置及び路面標示検出方法を提供する。【解決手段】移動体の前方を含む移動体の周囲を撮像し、撮像された画像を視点変換して視点変換画像を生成し、視点変換画像から特徴エッジを抽出し、特徴エッジが直線状に連続した直線成分を複数抽出し、複数の直線成分のうち、位置及び傾きがそれぞれ所定の範囲内にある直線成分同士を合成し、合成された直線成分の長さに基づいて停止線を検出する。【選択図】図2
ROAD SURFACE SIGN DETECTION APPARATUS AND ROAD SURFACE SIGN DETECTION METHOD
路面標示検出装置及び路面標示検出方法
2017-01-12
Patent
Electronic Resource
Japanese
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