Local positioning apparatus
First Claim
1. A position detecting apparatus for use with an object movable along a lane, said position detecting apparatus comprising:
- an imaging device to be mounted on the object for capturing an image of a perspective view from the object in an advancing direction of the object along the lane and for generating a digital image signal representative of the perspective view including the lane;
a contour extraction means for extracting a contour of the lane from the digital image signal and for producing contour data indicative of the contour of the lane;
a conversion means for converting the contour data from the perspective view to a plane view so as to indicate dimensions of the contour data extracted by said contour extraction means correctly in the plane view and for producing coordinate converted data indicative of the contour data with correct dimensions in the plane view; and
a feature detection means for detecting dimensional features of the contour of the lane extracted by said contour extraction means based on the coordinate converted data produced by said conversion means and for producing dimensional data indicative of the dimensional features of the contour of the lane.
1 Assignment
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Accused Products
Abstract
A local positioning device detects a local position of an automobile advancing along a lane formed on a road in a direction. A digital image data indicative of an advancing direction view observed from the automobile in the advancing direction is applied to the local position device. An edge extractor, a threshold generator, and a contour extractor are operable for extracting a contour data indicative of the lane from the image signal. A coordinate convertor converts the contour data into a plane view data indicating the dimensions of extracted contours correctly. A matching operator matches a line or an arc with each of extracted contour. A lane mark contour extractor selectively extracts a pair of extracted contours corresponding to the lane on which the automobile is located.
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Citations
26 Claims
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1. A position detecting apparatus for use with an object movable along a lane, said position detecting apparatus comprising:
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an imaging device to be mounted on the object for capturing an image of a perspective view from the object in an advancing direction of the object along the lane and for generating a digital image signal representative of the perspective view including the lane; a contour extraction means for extracting a contour of the lane from the digital image signal and for producing contour data indicative of the contour of the lane; a conversion means for converting the contour data from the perspective view to a plane view so as to indicate dimensions of the contour data extracted by said contour extraction means correctly in the plane view and for producing coordinate converted data indicative of the contour data with correct dimensions in the plane view; and a feature detection means for detecting dimensional features of the contour of the lane extracted by said contour extraction means based on the coordinate converted data produced by said conversion means and for producing dimensional data indicative of the dimensional features of the contour of the lane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A position detecting apparatus for use with an object movable along a lane, said position detecting apparatus comprising:
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an imaging device to be mounted on the object for capturing an image of a perspective view from the object in an advancing direction of the object along the lane and for generating a digital image signal representative of the perspective view including the lane; a contour extraction means for extracting a contour of the lane from the digital image signal and for producing contour data indicative of the contour of the lane; and a feature detection means for detecting dimensional features of the contour of the lane extracted by said contour extraction means based on an inclination of the contour and for producing dimensional data indicative of the dimensional features of the contour of the lane. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification