To improve the accuracy of recognizing lane lines marked on a road.SOLUTION: A lane line recognition device recognizes a lane line on a road from an image captured by a camera 101. The lane line recognition device comprises: a processing area setting unit 201 for setting a processing area for the image; a statistic calculation unit 202 for calculating the statistic of the image in the processing area; a threshold setting unit 203 for setting a plurality of thresholds, that is, a white line threshold and a road surface threshold, based on the statistic; a lane line feature point extraction unit 205 for classifying a plurality of pixels included in the image based on the white line threshold and the road surface threshold, and extracting a lane line feature point based on the classification result of the plurality of pixels; and a lane line determination unit 206 for determining the lane line based on the feature points extracted by the lane line feature point extraction unit 205.SELECTED DRAWING: Figure 2
【課題】道路上の区画線の認識精度を改善する。【解決手段】区画線認識装置は、カメラ101で撮影された画像から道路上の区画線を認識する装置であり、画像に対して処理領域を設定する処理領域設定部201と、処理領域における画像の統計量を算出する統計量算出部202と、統計量に基づいて複数の閾値、すなわち白線閾値および路面閾値を設定する閾値設定部203と、白線閾値および路面閾値に基づいて画像に含まれる複数の画素を分類し、複数の画素の分類結果に基づいて区画線の特徴点を抽出する区画線特徴点抽出部205と、区画線特徴点抽出部205により抽出された特徴点に基づいて区画線を決定する区画線決定部206と、を備える。【選択図】図2
LANE LINE RECOGNITION SYSTEM
区画線認識装置
2019-09-19
Patent
Electronic Resource
Japanese
Lane line recognition method, lane line recognition device and non-volatile storage medium
European Patent Office | 2022
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