Apparatus and method for detecting road white line for automotive vehicle
First Claim
Patent Images
1. A road white line detecting apparatus, comprising:
- a CCD camera to photograph a road surface;
an edge image generating section that generates an edge image from a road surface image photographed and outputted by the CCD camera;
a smear edge detecting section that detects edge positions of a smear from a region of the generated edge image which is determined on the basis of a previously detected position of a white line on the road surface;
a smear edge eliminating section that eliminates smear edges corresponding to the edge positions of the smear from the generated edge image; and
a white line detecting section that detects the present position of the white line from the generated edge image from which the smear edges have been eliminated.
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Abstract
In road white line detecting apparatus and method, a CCD camera is installed to photograph a road surface, an edge image is generated from a road surface image photographed and outputted by the CCD camera, edge positions of a smear are detected from a region of the generated edge image which is determined on the basis of a previously detected position of a white line on the road surface, smear edges corresponding to the edge positions of the smear are generated from the generated edge image, and the present position of the white line are detected from the generated edge image from which the smear edges have been eliminated.
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Citations
11 Claims
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1. A road white line detecting apparatus, comprising:
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a CCD camera to photograph a road surface; an edge image generating section that generates an edge image from a road surface image photographed and outputted by the CCD camera; a smear edge detecting section that detects edge positions of a smear from a region of the generated edge image which is determined on the basis of a previously detected position of a white line on the road surface; a smear edge eliminating section that eliminates smear edges corresponding to the edge positions of the smear from the generated edge image; and a white line detecting section that detects the present position of the white line from the generated edge image from which the smear edges have been eliminated. - View Dependent Claims (2, 3, 4)
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5. A road white line detecting method, comprising:
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providing a CCD camera to photograph a road surface; generating an edge image from a road surface image photographed and outputted by the CCD camera; detecting edge positions of a smear from a region of the generated edge image which is determined on the basis of a previously detected position of a white line on the road surface; eliminating smear edges corresponding to the edge positions of the smear from the generated edge image; and detecting the present position of the white line from the generated edge image from which the smear edges have been eliminated. - View Dependent Claims (6, 7, 8, 9, 10)
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11. A road white line detecting apparatus, comprising:
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photographing means having a CCD camera to photograph a road surface; edge image generating means for generating an edge image from a road surface image photographed and outputted by the CCD camera; smear edge detecting means for detecting edge positions of a smear from a region of the generated edge image which is determined on the basis of a previously detected position of a white line on the road surface; smear edge eliminating means for eliminating smear edges corresponding to the edge positions of the smear from the generated edge image; and white line detecting means for detecting the present position of the white line from the generated edge image from which the smear edges have been eliminated.
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Specification