Disclosed are a method and an apparatus for estimating a driving lane based on detection of road signs. According to an embodiment of the present invention, the method for estimating a driving lane based on detection of road sign comprises the following steps of: extracting a road sign candidate area from a predetermined area of interest of an image obtained from a camera; determining an actual road sign area by verifying the extracted road sign candidate area; determining whether the determined actual road sign area is in a left direction or a right direction; calculating a three-dimensional location of a lower end point of the actual road sign with respect to the determined direction; and estimating the location of a driving lane where a vehicle is being driven by using the calculated three-dimensional location on the lower end point. The apparatus for estimating a driving lane based on detection of road signs can guide a driving lane in a more correct and convenient manner.

    본 발명은 도로표지판 검출 기반 주행 차로 추정 방법 및 장치를 개시한다. 본 발명의 일 실시예에 따르면, 카메라로부터 취득된 영상의 미리 설정된 관심영역 내에서 도로표지판 후보영역을 추출하는 단계; 상기 추출된 도로표지판 후보 영역에 대한 검증을 통해 실제 도로표지판 영역을 결정하는 단계; 상기 결정된 실제 도로표지판 영역이 좌측 또는 우측 방향인지 여부를 결정하는 단계; 상기 결정된 방향에 대해 상기 실제 도로표지판 영역의 하단 끝점의 3차원 위치를 계산하는 단계; 및 상기 계산된 하단 끝점의 3차원 위치를 이용하여 진행 중인 차로의 위치를 추정하는 단계를 포함하는 주행 차로 추정 방법이 제공된다.


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    Title :

    Road sign detection-based driving lane estimation method and apparatus


    Additional title:

    도로표지판 검출 기반 주행 차로 추정 방법 및 장치


    Contributors:
    JUNG HO GI (author) / SUHR JAE KYU (author) / CHO GAE HWAN (author)

    Publication date :

    2016-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06K Erkennen von Daten , RECOGNITION OF DATA




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