White line detection apparatus and white line detection method

• US 6,925,206 B2
• Filed: 08/01/2002
• Issued: 08/02/2005
• Est. Priority Date: 08/06/2001
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Akutagawa, Kiyoshi
• Primary Examiner(s): Tran, Phuoc
• Application Number:
  US10/208,836
• Publication Number:
  US 20030026456A1
• Time in Patent Office: 1,097 Days
• Field of Search: 382/104, 382/173, 382/168, 382/190, 382/254, 382/264, 382/274
• US Class Current: 382/173
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/20012 Locally adaptive
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 5/40 using histogram techniques
• CPC Class Codes: G06T 5/94 based on local image properties, e.g. for local contrast enhancement
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A white line detection apparatus comprises an extraction device that extracts an image of a white line detection processing area set within a road image captured by an image-capturing device, a maximum value estimating device that estimates a maximum value among pixel values constituting an image of road surface areas other than the white line based upon the pixel values representing the image extracted by the extraction device, a contrast reducing device that reduces the contrast of an image corresponding to pixel values equal to or lower than the maximum value among the pixel values constituting the image of road surface areas other than the white line which has been estimated and a detection device that detects the white line based upon the image whose contrast has been lowered by the contrast reducing device.

Claims

1. A white line detection apparatus comprising:

an extraction device that extracts an image of a white line detection processing area set within a road image captured by an image-capturing device;

a maximum value estimating device that estimates a maximum value among pixel values constituting the image of a road surface over the area other than a white line based upon pixel values corresponding to the image extracted by the extraction device;

a contrast reducing device that reduces the contrast of an image corresponding to pixel values equal to or smaller than the maximum value among pixel values constituting the image of the road surface over the area other than the white line, which has been estimated by the maximum value estimating device; and

a detection device that detects the white line based upon the image whose contrast has been lowered by the contrast reducing device.

2. A white line detection apparatus according to claim 1, further comprising:

a density gradient correction device that corrects a density gradient of the image over the white line detection processing area extracted by the extraction device, wherein;

the maximum value estimating device estimates the maximum value among the pixel values constituting the image of the road surface over the area other than the white line based upon pixel values of an image with the density gradient having been corrected by the density gradient correction device.

3. A white line detection apparatus according to claim 1, further comprising:

a white line estimating device that estimates whether or not a white line is present in the white line detection processing area extracted by the extraction device, wherein;

the contrast reducing device reduces the contrast of an image area having pixel values equal to or smaller than the maximum value among the pixel values constituting the image of the road surface over the area other than the white line if the white line estimating device estimates that a white line is present in the white line detection processing area.

4. A white line detection apparatus according to claim 2, further comprising:

an image smoothing device that smoothes the image of the white line detection processing area, wherein;

the density gradient correction device corrects the density gradient by a density correction coefficient which has been calculated based upon individual pixel values and the average of all the pixel values constituting the image having been smoothed by the image smoothing device.

5. A white line detection apparatus according to claim 2, wherein:

the maximum value estimating device estimates the maximum value among the pixel values constituting the image of the road surface over the area other than the white line based upon a density histogram obtained by using the image with the density gradient having been corrected by the density gradient correction device and a density histogram of an image of a road surface with a uniform density.

6. A white line detection apparatus according to claim 2, wherein:

the maximum value estimating device also estimates a minimum value among the pixel values constituting the image of the road surface over the area other than the white line; and

the contrast reducing device executes density conversion for pixel values between the maximum value among the pixel values constituting the image of the road surface areas other than the white line and the maximum value among the pixel values constituting the image with the density gradient thereof having been corrected by using a conversion formula representing a straight line connecting the point P1 and the point P3 and having a larger degree of inclination than a straight line connecting the point P1 and the point P2 and executes density conversion for pixel values between the maximum value and the minimum value among the pixel values constituting the image of the road surface over the area other than the white line by using a conversion formula representing a straight line connecting the point P2 and the point P3 or a conversion formula representing a quadratic curve connecting the point P2 and the point P3 with a downward apex, with the P1, P2 and P3 representing a first, a second and a third points in a density conversion graph with a horizontal axis and a vertical axis respectively representing the input pixel value and the output pixel value as set out below;

P1 indicating a point at which a maximum output pixel value is obtained in correspondence to a maximum value among the pixel values constituting the image with the density gradient having been corrected input as an input pixel value, P2 representing a point at which a minimum output pixel value is obtained in correspondence to the minimum value among the pixel values constituting the image of the road surface over the area other than the white line estimated by the maximum value estimating device input as the input pixel value and P3 representing a point at which an output pixel value is obtained in correspondence to the maximum value among the pixel values constituting the image of the road surface over the area other than the white line input as the input pixel value.

7. A white line detection apparatus, comprising:

an extraction means for extracting an image of a white line detection processing area set within a road image captured by an image-capturing device;

a maximum value estimation means for estimating a maximum value among pixel values constituting an image of a road surface over the area other than a white line based upon the pixel values corresponding to the image extracted by the extraction means;

a contrast reduction means for reducing the contrast of an image corresponding to pixel values equal to or smaller than the maximum value among pixel values constituting the image of the road surface over the area other than the white line which has been estimated by the maximum value estimation means; and

a detection means for detecting the white line based upon the image whose contrast has been lowered by the contrast reduction means.

8. A white line detection method, comprising:

extracting an image of a white line detection processing area set within a road image captured by an image-capturing device;

estimating a maximum value among pixel values constituting an image of a road surface over the area other than a white line based upon pixel values corresponding to the extracted image;

reducing the contrast of an image corresponding to pixel values equal to or lower than the maximum value among pixel values constituting the image of the road surface over the area other than the white line which has been estimated; and

detecting the white line based upon the image whose contrast has been reduced.