PROBLEM TO BE SOLVED: To realize detection of a lane and measurement of distance to it with high accuracy even in an unsatisfactory field of view by using only one line and securing a speedy operation.SOLUTION: The present invention is directed to a lane recognition apparatus having a feature extracting unit for generating, in each of processing object images generated from a divided region image which is an image of a divided region obtained by dividing image data input from outside by a predetermined boundary, a feature pixel group whose factor is a feature pixel included in the image, a straight line calculating unit for calculating, based on the feature pixel group, an inner straight line component and an outer straight line component forming a lane image included in a divided region image which is a linear lane image, a distance measuring unit for calculating a distance between the lane and a lens principal point of an image capturing device having acquired the image data based on the lane image including the inner straight line component and the outer straight line component, and a result outputting unit for outputting the distance to an external device.SELECTED DRAWING: Figure 3

    【課題】 迅速性を確保しながらレーン線一本のみで、視界不良環境でも高精度なレーン線の検出および測距を実現すること。【解決手段】 外部から入力される画像データを所定の境界により分割した分割領域に係る画像である分割領域画像から生成した処理対象画像のそれぞれにおいて、当該画像に含まれる特徴画素を要素とする特徴画素集合を生成する特徴抽出部、直線状のレーン線の画像であって分割領域画像に含まれるレーン線画像を構成する内側直線成分と外側直線成分とを特徴画素集合に基づいて算出する直線算出部、画像データを取得した画像取得装置におけるレンズ主点とレーン線との距離を内側直線成分と外側直線成分とを含むレーン線画像に基づいて算出する測距部と、距離を外部の装置に出力する結果出力部と、を有するレーン線認識装置による。【選択図】図3


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    Title :

    LANE RECOGNITION APPARATUS AND LANE RECOGNITION PROGRAM


    Additional title:

    レーン線認識装置およびレーン線認識プログラム


    Contributors:

    Publication date :

    2018-11-01


    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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