PROBLEM TO BE SOLVED: To detect a road sign with favorable accuracy, on the basis of measured data of a reflection point group acquired by a laser scanner.SOLUTION: Point group filtering means 24: calculates an index value indicating variation in laser reflection intensity of a reflection point group existing in a predetermined neighboring region at each reflection point on a road surface; determines a region giving uniform laser reflection intensity out of the road surface on the basis of the index value; and obtains a reflection intensity undulation point group from which the reflection point group in the region is removed. Point group clustering means 26 performs clustering regarding a distribution on the road surface with respect to the reflection intensity undulation point group to generate a point group cluster separated by every road sign, in accordance with necessary resolution regarding detection of the road sign. Road sign candidate point group extraction means 28 relating to the laser reflection intensity classifies the reflection point group belonging to the point group cluster by a threshold value determined by every point group cluster to extract the reflection point group having the laser reflection intensity equal to or more than the threshold value as a road sign candidate point group corresponding to one road sign.SELECTED DRAWING: Figure 1

    【課題】レーザースキャナにより取得された反射点群の計測データに基づいて道路標示を好適な精度で検出する。【解決手段】点群フィルタリング手段24は、道路面にて各反射点の所定近傍領域に存在する反射点群のレーザー反射強度のばらつき具合を表す指標値を算出し、当該指標値に基づいて道路面のうちレーザー反射強度が一様となる領域を定め、当該領域の反射点群を除去した反射強度起伏点群を求める。点群クラスタリング手段26は道路標示の検出に関する所要分解能に応じて、反射強度起伏点群に対し道路面上での分布に関するクラスタリングを行い、道路標示ごとに分離された点群クラスターを生成する。道路標示候補点群抽出手段28はレーザー反射強度に関し、点群クラスターごとに定められる閾値により当該点群クラスタに属する反射点群を分類し、閾値以上のレーザー反射強度を有する反射点群を1つの道路標示に対応する道路標示候補点群として抽出する。【選択図】図1


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    Title :

    ROAD SIGN DETECTION DEVICE, ROAD SIGN DETECTION METHOD, PROGRAM, AND ROAD SURFACE DETECTION DEVICE


    Additional title:

    道路標示検出装置、道路標示検出方法、プログラム、及び道路面検出装置


    Contributors:

    Publication date :

    2018-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

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



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