LANE MARKING DETECTION APPARATUS, LANE MARKING DETECTION METHOD, AND LANE MARKING DETECTION PROGRAM
First Claim
1. A lane marking detection apparatus, comprising:
- an original image acquirement part configured to acquire an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road;
a lane marking position detection part configured to detect a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and
an examination part configured to examine a detection result of said lane marking position detection part, based on a partial image extracted from a first image that is the original image obtained at time t0, and a partial image extracted from a past image that is the original image obtained before time t0.
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Abstract
A lane marking detection apparatus, a lane marking detection method, and a lane marking detection program is provided, which can detect a lane marking precisely even when noise is present. The lane marking detection apparatus is provided with an original image acquiring means which acquires an original image obtained by imaging a road from a traveling object traveling along the road, a lane marking position detection means which detects the relative position of a lane marking included in the road, from the traveling object, based on the original image, and a examination means which examine the result of the detection obtained by the lane marking position detection means, based on a partial image of a first image that is an original image at time t0 and the partial image of a past image that is the original image captured before time t0.
23 Citations
10 Claims
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1. A lane marking detection apparatus, comprising:
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an original image acquirement part configured to acquire an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; a lane marking position detection part configured to detect a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and an examination part configured to examine a detection result of said lane marking position detection part, based on a partial image extracted from a first image that is the original image obtained at time t0, and a partial image extracted from a past image that is the original image obtained before time t0. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A car navigation system, comprising:
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a lane marking detection apparatus; a position grasp part; and a notification part; wherein said lane marking detection apparatus comprises; an original image acquirement part configured to acquire an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; a lane marking position detection part configured to detect a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and an examination part configured to examine a detection result of said lane marking position detection part, based on a partial image extracted from a first image that is the original image obtained at time t0, and a partial image extracted from a past image that is the original image obtained before time t0, wherein said position grasp part is configured to grasp a position of said travelling body based on an examination result of said examination part, and wherein said notification part is configured to notify a position grasped by said position grasp part to a user.
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8. A turn signal system, comprising:
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a lane marking detection apparatus; and a turn signal control part, wherein said lane marking detection apparatus comprises; an original image acquirement part configured to acquire an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; a lane marking position detection part configured to detect a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and an examination part configured to examine a detection result of said lane marking position detection part, based on a partial image extracted from a first image that is the original image obtained at time t0, and a partial image extracted from a past image that is the original image obtained before time t0, and wherein said turn signal control part is configured to control a turn signal provided on said travelling road, based on an examination result of said examination part.
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9. A lane marking detection method, comprising:
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acquiring an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; detecting a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and examining a detection result in said detecting, based on a partial image extracted from a first image that is the original image obtained at time t0, and a partial image extracted from a past image that is the original image obtained before time t0.
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10. A computer-readable recording tangible medium in which a computer-executable program code is stored to attain a lane marking detection method which comprises:
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acquiring an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; detecting a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and examining a detection result in said detecting, based on a partial image extracted from a first image that is the original image obtained at time t0, and a partial image extracted from a past image that is the original image obtained before time t0.
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Specification