PAVEMENT MARKER RECOGNITION DEVICE, PAVEMENT MARKER RECOGNITION METHOD AND PAVEMENT MARKER RECOGNITION PROGRAM
First Claim
1. A pavement marker recognition device for recognizing a marker on a pavement based on a captured image, the device comprising:
- a correspondence table data storage unit which stores, in advance, a road shape and pavement marker correspondence table showing correspondence relationships between a plurality of types of pavement markers and road shapes;
a pavement marker candidate extraction unit which extracts an image area having a feature similar to a feature of a pavement maker from a captured image as a pavement marker candidate area;
a road shape analysis unit which analyzes and recognizes a road shape from the captured image; and
a pavement marker verification unit which determines whether the road shape recognized by the road shape analysis unit and the pavement marker candidate area extracted by the pavement marker candidate extraction unit are in a correspondence relationship shown in the road shape and pavement marker correspondence table, and based on a determination result, recognizes the pavement marker candidate area as a true pavement marker.
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Abstract
A pavement marker recognition device for recognizing a pavement marker accurately is provided, the device being capable of recognizing an object even when it is difficult to be recognized only from tones or color information. A pavement marker candidate extraction unit extracts an image area having a feature similar to that of a pavement marker from an image captured by a car-mounted camera as a pavement marker candidate area, a road shape analysis unit analyzes the road shape from the image captured by the car-mounted camera, and a pavement marker verification unit determines whether the road shape analyzed by the road shape analysis unit and the pavement marker candidate area extracted by the pavement marker candidate extraction unit are in a correspondence relationship indicated by a road shape and pavement marker correspondence table, and based on the determination result, recognizes the pavement marker candidate area as a true pavement marker.
35 Citations
20 Claims
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1. A pavement marker recognition device for recognizing a marker on a pavement based on a captured image, the device comprising:
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a correspondence table data storage unit which stores, in advance, a road shape and pavement marker correspondence table showing correspondence relationships between a plurality of types of pavement markers and road shapes; a pavement marker candidate extraction unit which extracts an image area having a feature similar to a feature of a pavement maker from a captured image as a pavement marker candidate area; a road shape analysis unit which analyzes and recognizes a road shape from the captured image; and a pavement marker verification unit which determines whether the road shape recognized by the road shape analysis unit and the pavement marker candidate area extracted by the pavement marker candidate extraction unit are in a correspondence relationship shown in the road shape and pavement marker correspondence table, and based on a determination result, recognizes the pavement marker candidate area as a true pavement marker. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A pavement marker recognition method for recognizing a marker on a pavement based on a captured image, the method comprising:
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a road shape analyzing step for analyzing and recognizing a road shape from the captured image; a pavement marker candidate area extracting step for extracting an image area having a feature similar to a feature of a pavement marker from the captured image as a pavement marker candidate area; and a pavement marker verifying step for determining whether or not the road shape analyzed in the road shape analyzing step and the pavement marker candidate area extracted in the pavement marker candidate area extraction step are in a correspondence relationship shown in a road shape and pavement marker correspondence table previously stored in a storage section, and based on a determination result, recognizing the pavement marker candidate area as a true pavement marker. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A non-transitory computer readable recording medium storing a pavement marker recognition program for controlling recognition of a marker on a pavement based on a captured image, the program causing a computer to perform:
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a road shape analyzing function for analyzing and recognizing a road shape from the captured image; a pavement marker candidate area extracting function for extracting an image area having a feature similar to a feature of a pavement marker from the captured image as a pavement marker candidate area; and a pavement marker verifying function for determining whether or not the road shape analyzed by the road shape analyzing function and the pavement marker candidate area extracted by the pavement marker candidate area extracting function are in a correspondence relationship shown in a road shape and pavement marker correspondence table previously stored in a storage section, and based on a determination result, recognizing the pavement marker candidate area as a true pavement marker. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification