LANE MARKER DETECTION SYSTEM WITH IMPROVED DETECTION-PERFORMANCE
First Claim
1. A lane marker detection system installed in a vehicle, comprising:
- an image capturing element that captures a picked-up image of a road ahead of the vehicle as a road image, the road image containing a plurality of color light components individually extractable therefrom;
a selecting element that extracts a plurality of color groups from at least one of a left area and a right area of the road image in front of the vehicle, and selects, from the extracted plurality of color groups, one color group, the plurality of color groups being comprised of one or more combinations of at least one of the plurality of color light components in the at least one of the left area and the right area of the road image, the selected one color group having a position in the at least one of the left area and the right area with a contrast equal to or higher than a threshold, the position of the selected one color group being the closest to a boundary between the left area and the right area in the extracted plurality of color groups;
an edge extracting element that extracts one or more edge points from the selected one color group; and
a lane marker detecting element that detects, based on the extracted one or more edge points, a lane marker marked on the road ahead of the vehicle.
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Accused Products
Abstract
In a lane marker detection system, an image capturing element captures a road image ahead of a vehicle. The road image contains a plurality of color light components individually extractable therefrom. A selecting element extracts color groups from at least one of left and right areas of the road image in front of the vehicle, and selects, from the extracted color groups, one color group. The color groups are comprised of one or more combinations of at least one of the plurality of color light components. The selected one color group has a position in the at least one of the left area and the right area with a contrast equal to or higher than a threshold. The position of the selected one color group is the closest to a boundary between the left and right areas in the extracted color groups.
31 Citations
8 Claims
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1. A lane marker detection system installed in a vehicle, comprising:
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an image capturing element that captures a picked-up image of a road ahead of the vehicle as a road image, the road image containing a plurality of color light components individually extractable therefrom; a selecting element that extracts a plurality of color groups from at least one of a left area and a right area of the road image in front of the vehicle, and selects, from the extracted plurality of color groups, one color group, the plurality of color groups being comprised of one or more combinations of at least one of the plurality of color light components in the at least one of the left area and the right area of the road image, the selected one color group having a position in the at least one of the left area and the right area with a contrast equal to or higher than a threshold, the position of the selected one color group being the closest to a boundary between the left area and the right area in the extracted plurality of color groups; an edge extracting element that extracts one or more edge points from the selected one color group; and a lane marker detecting element that detects, based on the extracted one or more edge points, a lane marker marked on the road ahead of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A computer program product comprising:
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a non-transitory computer-readable medium; and a set of computer program instructions embedded in the computer-readable medium, the instructions including; a first instruction to capture a picked-up image of a road ahead of the vehicle as a road image, the road image containing a plurality of color light components individually extractable therefrom; a second instruction to extract a plurality of color groups from at least one of a left area and a right area of the road image in front of the vehicle, and to select, from the extracted plurality of color groups, one color group, the plurality of color groups being comprised of one or more combinations of at least one of the plurality of color light components in the at least one of the left area and the right area of the road image, the selected one color group having a position in the at least one of the left area and the right area with a contrast equal to or higher than a threshold, the position of the selected one color group being the closest to a boundary between the left area and the right area in the extracted plurality of color groups; a third instruction to extract one or more edge points from the selected one color group; and a fourth instruction to detect, based on the extracted one or more edge points, a lane marker marked on the road ahead of the vehicle.
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Specification