Road marking recognition apparatus and method
First Claim
1. A road marking recognition apparatus, comprising:
- a unit that obtains image data of a road, and stores said image data into an image data storage;
a first detector that detects a first road marking in said image data stored in said image data storage, and stores position data of said first road marking into a storage;
a second detector that detects a second road marking in said image data stored in said image data storage, and stores position data of said second road marking into said storage;
a unit that judges based on said position data stored in said storage, whether or not a predefined proper mutual positional relationship between said first and second road markings is established; and
an evaluator that evaluates a confidence degree for detection results of said first and second road markings by using a result of said judging.
1 Assignment
0 Petitions
Accused Products
Abstract
An object of this invention is to provide a technique to correctly recognize road markings by a simple processing. This road marking recognition method: obtaining image data of a road, and storing the image data into an image data storage; detecting a first road marking in the image data stored in the image data storage, and storing position data of the first road marking into a storage; detecting a second road marking in the image data stored in the image data storage, and storing position data of the second road marking into a storage; judging based on the position data stored in the storage, whether or not a predefined proper mutual positional relationship between the first and second road markings is established; and evaluating a confidence degree for the detection result of the first and second road markings by using a result of the judging. For example, in a case of the road markings such as a crosswalk and a stop line, the stop line and the crosswalk have to be arranged in this order when viewing from the vehicle. Such a positional relationship is confirmed to evaluate the confidence degree.
-
Citations
15 Claims
-
1. A road marking recognition apparatus, comprising:
-
a unit that obtains image data of a road, and stores said image data into an image data storage;
a first detector that detects a first road marking in said image data stored in said image data storage, and stores position data of said first road marking into a storage;
a second detector that detects a second road marking in said image data stored in said image data storage, and stores position data of said second road marking into said storage;
a unit that judges based on said position data stored in said storage, whether or not a predefined proper mutual positional relationship between said first and second road markings is established; and
an evaluator that evaluates a confidence degree for detection results of said first and second road markings by using a result of said judging. - View Dependent Claims (2, 3, 4, 5)
-
-
6. A road marking recognition method, comprising:
-
obtaining image data of a road, and storing said image data into an image data storage;
detecting a first road marking in said image data stored in said image data storage, and storing position data of said first road marking into a storage;
detecting a second road marking in said image data stored in said image data storage, and storing position data of said second road marking into said storage;
judging based on said position data stored in said storage, whether or not a predefined proper mutual positional relationship between said first and second road markings is established; and
evaluating a confidence degree for detection results of said first and second road markings by using a result of said judging. - View Dependent Claims (7, 8, 9, 10)
-
-
11. A road marking recognition program embodied on a medium, comprising:
-
obtaining image data of a road, and storing said image data into an image data storage;
detecting a first road marking in said image data stored in said image data storage, and storing position data of said first road marking into a storage;
detecting a second road marking in said image data stored in said image data storage, and storing position data of said second road marking into said storage;
judging based on said position data stored in said storage, whether or not a predefined proper mutual positional relationship between said first and second road markings is established; and
evaluating a confidence degree for detection results of said first and second road markings by using a result of said judging. - View Dependent Claims (12, 13, 14, 15)
-
Specification