PROBLEM TO BE SOLVED: To provide a section line recognition apparatus capable of discriminating road surface reflection and accurately recognizing a section line.SOLUTION: A section line recognition apparatus comprises: a feature point detection unit for detecting bright feature points, which show portions brighter than a road surface, from a photographic image; a reflection determination unit for, in the case where a bright feature point detected at the same position between frames of the photographic image separate for a pre-set period, out of the detected bright feature points, is a straight line shorter than a pre-set length threshold, determining the short straight line as a road surface reflection portion; and a white line recognition unit for recognizing a white line from bright feature points obtained by excluding bright feature points of the short straight line determined as the road surface reflection portion, out of the detected bright feature points.SELECTED DRAWING: Figure 1
【課題】路面反射を判別して、区画線を精度良く認識することが可能な区画線認識装置を提供する。【解決手段】撮影画像から路面よりも明るい部分を表す明特徴点を検出する特徴点検出部と、検出された明特徴点のうち、予め設定された期間離れた撮影画像のフレーム間で同じ位置に検出されている明特徴点が、並んで予め設定された長さ閾値よりも短い長さの直線となっている場合に、前記短い長さの直線を路面反射部分と判定する反射判定部と、検出された明特徴点のうち、路面反射部分と判定された短い長さの直線の明特徴点を除いた明特徴点から、白線を認識する白線認識部と、を備える。【選択図】図1
SECTION LINE RECOGNITION APPARATUS
区画線認識装置
2018-01-11
Patent
Electronic Resource
Japanese
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