To detect a railroad track from a captured image at a higher speed and with high accuracy.SOLUTION: In a track identification device according to one embodiment, a railroad track detection unit includes an initial detection unit and a secondary detection unit. The initial detection unit identifies, based on a feature amount, a line segment that is most likely to be a railroad track extending between a lower end and an upper end of an initial area preset at a lower end side of a captured image, and detects the identified line segment as an initial part of a portion of the railroad track. The secondary detection unit determines, based on the feature amount, one line segment candidate that is most likely to be the railroad track from among a plurality of line segment candidates connecting a plurality of candidate points having the upper end of the initial part as a start point and selected from a search area set at the upper side of the start point with the upper end of the detected railroad track, detects the determined one line segment candidate as an intermediate part of the portion of the railroad track, and repeatedly detects the intermediate part until the upper end of the detected railroad track reaches a predetermined position by repeatedly executing a process of setting the upper end of the intermediate part as a next start point.SELECTED DRAWING: Figure 2
【課題】撮像画像から線路をより高速に、かつより精度よく検出する。【解決手段】実施形態にかかる軌道識別装置において、線路検出部は、初期検出部と、二次検出部と、を備える。初期検出部は、撮像画像の下端側に予め設定された初期エリアの下端と上端との間で延びる線路らしさが最も高い線分を特徴量に基づいて特定し、特定した線分を線路の一部の初期部分として検出する。二次検出部は、初期部分の上端を起点とし、当該起点よりも上側に設定された探索エリア内から選択される複数の候補点と、検出済みの線路の上端と、を結ぶ複数の線分候補のうち、線路らしさが最も高い1つの線分候補を特徴量に基づいて決定し、決定した1つの線分候補を線路の一部の途中部分として検出し、当該途中部分の上端を次の起点とする、という処理を繰り返し実行することで、検出済みの線路の上端が所定の位置に達するまで途中部分を繰り返し検出する。【選択図】図2
TRACK IDENTIFICATION DEVICE
軌道識別装置
2019-11-07
Patent
Electronic Resource
Japanese
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