Diagrammatizing Apparatus

• US 20090010482A1
• Filed: 05/25/2005
• Published: 01/08/2009
• Est. Priority Date: 06/02/2004
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Nishida, Makoto, Watanabe, Akihiro
• Application Number:
  US11/597,888
• Publication Number:
  US 20090010482A1
• Time in Patent Office: Days
• US Class Current: 382/100
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20061 Hough transform
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06V 10/48 by mapping characteristic values of the pattern into a parameter space, e.g. Hough transformation
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A diagrammatizing apparatus (20) for vehicle lane detection which detects at least two lines of boundary lines of the sign lines (5L, 5R) or the boundary lines of a vehicle lane (4) on the road surface from a picked-up image of the road surface, includes a first boundary line extracting unit that selects a longest line (L₀) as a first boundary line from a first line group consisting of plurality of lines (L₀), La, Lb which intersect with each other in the image, and a second boundary line extracting unit that selects a longest line (L₁₀) as a second boundary line from a second line group consisting of a plurality of lines (L₁₀, Lc, Ld) which intersect with each other in the image.

Claims

1. A diagrammatizing apparatus which extracts a first line and a second line which do not intersect with each other and have maximum length from an image, comprising:

a first line extracting unit that selects a longest line as the first line from a first line group consisting of a plurality of lines which intersect with each other in the image; and

a second line extracting unit that selects a longest line as the second line from a second line group consisting of a plurality of lines which intersect with each other in the image.

3. The diagrammatizing apparatus according to claim 1, wherein

each line is formed with a line of points, and

the length of the line is found based on a distance between two points which are located farthest from each other among a plurality of points which constitute the line of points.

4. The diagrammatizing apparatus according to claim 1, wherein

each line is formed with a line of points, and

the length of the line is found based on a number of points which constitute the line of points.

5. The diagrammatizing apparatus according to claim 1, wherein

each line is formed with a line of points, and

the length of the line is found based on a function of a distance between two points which are located farthest from each other among a plurality of points which constitute the line of points and a number of points which constitute the line of points.

6. The diagrammatizing apparatus according to claim 3, wherein

the line which is formed with the line of points is extracted from the points in the image via Hough transform.

7. The diagrammatizing apparatus according to claim 6, wherein

each of the first line group and the second line group is detected as a result of determination on whether the plurality of lines intersect with each other or not with a use of a parameter space of the Hough transform.

8. The diagrammatizing apparatus according to claim 6, wherein

selection of the longest line from the first line group and selection of the longest line from the second line group are performed with at least one of a vote value cast in a parameter space of the Hough transform, and a coordinate value corresponding to points to which a vote is cast in the parameter space.

21. The diagrammatizing apparatus according to claim 4, wherein

the line which is formed with the line of points is extracted from the points in the image via Hough transform.

22. The diagrammatizing apparatus according to claim 21, wherein

each of the first line group and the second line group is detected as a result of determination on whether the plurality of lines intersect with each other or not with a use of a parameter space of the Hough transform.

23. The diagrammatizing apparatus according to claim 21, wherein

selection of the longest line from the first line group and selection of the longest line from the second line group are performed with at least one of a vote value cast in a parameter space of the Hough transform, and a coordinate value corresponding to points to which a vote is cast in the parameter space.

24. The diagrammatizing apparatus according to claim 5, wherein

the line which is formed with the line of points is extracted from the points in the image via Hough transform.

25. The diagrammatizing apparatus according to claim 24, wherein

each of the first line group and the second line group is detected as a result of determination on whether the plurality of lines intersect with each other or not with a use of a parameter space of the Hough transform.

26. The diagrammatizing apparatus according to claim 24, wherein

selection of the longest line from the first line group and selection of the longest line from the second line group are performed with at least one of a vote value cast in a parameter space of the Hough transform, and a coordinate value corresponding to points to which a vote is cast in the parameter space.

2. A diagrammatizing apparatus for vehicle lane detection which detects at least two lines of boundary lines of sign lines or boundary lines of a vehicle lane on a road surface from an image of the road surface, comprising:

a first boundary line extracting unit that selects a longest line as the first boundary line from a first line group consisting of a plurality of lines which intersect with each other in the image; and

a second boundary line extracting unit that selects a longest line as the second boundary line from a second line group consisting of a plurality of lines which intersect with each other in the image.

9. The diagrammatizing apparatus according to claim 2, wherein

each line is formed with a line of points, and

the length of the line is found based on a distance between two points which are located farthest from each other among a plurality of points which constitute the line of points.

10. The diagrammatizing apparatus according to claim 9, wherein

the line which is formed with the line of points is extracted from the points in the image via Hough transform.

11. The diagrammatizing apparatus according to claim 10, wherein

each of the first line group and the second line group is detected as a result of determination on whether the plurality of lines intersect with each other or not with a use of a parameter space of the Hough transform.

12. The diagrammatizing apparatus according to claim 10, wherein

selection of the longest line from the first line group and selection of the longest line from the second line group are performed with at least one of a vote value cast in a parameter space of the Hough transform, and a coordinate value corresponding to points to which a vote is cast in the parameter space.

13. The diagrammatizing apparatus according to claim 2, wherein

each line is formed with a line of points, and

the length of the line is found based on a number of points which constitute the line of points.

14. The diagrammatizing apparatus according to claim 13, wherein

the line which is formed with the line of points is extracted from the points in the image via Hough transform.

15. The diagrammatizing apparatus according to claim 14, wherein

each of the first line group and the second line group is detected as a result of determination on whether the plurality of lines intersect with each other or not with a use of a parameter space of the Hough transform.

16. The diagrammatizing apparatus according to claim 14, wherein

selection of the longest line from the first line group and selection of the longest line from the second line group are performed with at least one of a vote value cast in a parameter space of the Hough transform, and a coordinate value corresponding to points to which a vote is cast in the parameter space.

17. The diagrammatizing apparatus according to claim 2, wherein

each line is formed with a line of points, and

the length of the line is found based on a function of a distance between two points which are located farthest from each other among a plurality of points which constitute the line of points and a number of points which constitute the line of points.

18. The diagrammatizing apparatus according to claim 17, wherein

the line which is formed with the line of points is extracted from the points in the image via Hough transform.

19. The diagrammatizing apparatus according to claim 17, wherein

each of the first line group and the second line group is detected as a result of determination on whether the plurality of lines intersect with each other or not with a use of a parameter space of the Hough transform.

20. The diagrammatizing apparatus according to claim 19, wherein

selection of the longest line from the first line group and selection of the longest line from the second line group are performed with at least one of a vote value cast in a parameter space of the Hough transform, and a coordinate value corresponding to points to which a vote is cast in the parameter space.