Method of determining the configuration of a path for motor vehicle
First Claim
1. A method of determining the configuration of a path for motor vehicles on roadways in which extraneous clutter and noise is relatively minimal, comprising the steps of:
- extracting straight lines from a group of straight lines which have been redetermined from original image data of the path based on an array of feature points included in said original image data, wherein the extracted straight lines determine boundaries of the path;
dividing the extracted straight lines into a plurality of line segments, each of said line segments being defined by points of intersection between the straight lines; and
comparing said line segments with the feature points of said original image data to determine whether the line segments correspond to the boundaries of the path.
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Abstract
The configuration of a path for motor vehicles is recognized on the basis of image data produced by a television camera or the like. Feature points contained in original image data of the path are determined, and a group of straight lines approximating the array of the feature points are also determined. From the group of straight lines, there are extracted straight lines which are effective to determine boundaries of the path. The extracted straight lines divided into a plurality of line segments by points of intersection between the straight lines. The line segments are then checked against the feature points of the original image data to determine whether the line segments correspond to the boundaries of the path. The original image data may be divided into a plurality of areas, and the above process may be carried out with respect to the image data in each of the areas.
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Citations
12 Claims
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1. A method of determining the configuration of a path for motor vehicles on roadways in which extraneous clutter and noise is relatively minimal, comprising the steps of:
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extracting straight lines from a group of straight lines which have been redetermined from original image data of the path based on an array of feature points included in said original image data, wherein the extracted straight lines determine boundaries of the path; dividing the extracted straight lines into a plurality of line segments, each of said line segments being defined by points of intersection between the straight lines; and comparing said line segments with the feature points of said original image data to determine whether the line segments correspond to the boundaries of the path. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of determining the configuration of a path for motor vehicles on roadways in which extraneous clutter and noise is relatively minimal, comprising the steps of:
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extracting straight lines from a group of straight lines which have been predetermined from original image data of the path based on an array of feature points included in said original image data, the original image data is being divided into a plurality of image areas, wherein the extracted straight lines determine boundaries of the path in each of said areas; uniting the extracted straight lines in each of said areas into a single combination of image data representing a single straight line; dividing said single straight line into a plurality of line segments; and comparing said line segments with the feature points of said original image data to determine whether the line segments correspond to the boundaries of the path. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification