Lane marking detection apparatus, lane marking detection method, and lane marking detection program
First Claim
1. A lane marking detection apparatus, comprising:
- an original image acquirement part configured to acquire an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road;
a lane marking position detection part configured to detect a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and
an examination part configured to transfer a near region of said original image obtained at time t0 to a first transformed image in which said travelling road is viewed in a first direction that is different from an imaging direction of said original image, transfer near regions of past original images obtained before time t0 to past transformed images in which said travelling road is viewed in said first direction, connect said first transformed image and said past transformed images in an order of time to generate a second image, and confirm whether or not a detection result of said lane marking position detection part is correct based on said second image.
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Accused Products
Abstract
A lane marking detection apparatus, a lane marking detection method, and a lane marking detection program is provided, which can detect a lane marking precisely even when noise is present. The lane marking detection apparatus is provided with an original image acquiring means which acquires an original image obtained by imaging a road from a traveling object traveling along the road, a lane marking position detection means which detects the relative position of a lane marking included in the road, from the traveling object, based on the original image, and a examination means which examine the result of the detection obtained by the lane marking position detection means, based on a partial image of a first image that is an original image at time t0 and the partial image of a past image that is the original image captured before time t0.
21 Citations
8 Claims
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1. A lane marking detection apparatus, comprising:
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an original image acquirement part configured to acquire an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; a lane marking position detection part configured to detect a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and an examination part configured to transfer a near region of said original image obtained at time t0 to a first transformed image in which said travelling road is viewed in a first direction that is different from an imaging direction of said original image, transfer near regions of past original images obtained before time t0 to past transformed images in which said travelling road is viewed in said first direction, connect said first transformed image and said past transformed images in an order of time to generate a second image, and confirm whether or not a detection result of said lane marking position detection part is correct based on said second image. - View Dependent Claims (2, 3, 4)
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5. A car navigation system, comprising:
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a lane marking detection apparatus; a position grasp part; and a notification part, wherein said lane marking detection apparatus comprises; an original image acquirement part configured to acquire an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; a lane marking position detection part configured to detect a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and an examination part configured to transfer a near region of said original image obtained at time t0 to a first transformed image in which said travelling road is viewed in a first direction that is different from an imaging direction of said original image, transfer near regions of past original images obtained before time t0 to past transformed images in which said travelling road is viewed in said first direction, connect said first transformed image and said past transformed images in an order of time to generate a second image, and confirm whether or not a detection result of said lane marking position detection part is correct based on said second image, wherein said position grasp part is configured to grasp a position of said travelling body based on an examination result of said examination part, and wherein said notification part is configured to notify a position grasped by said position grasp part to a user.
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6. A turn signal system, comprising:
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a lane marking detection apparatus; and a turn signal control part, wherein said lane marking detection apparatus comprises; an original image acquirement part configured to acquire an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; a lane marking position detection part configured to detect a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and an examination part configured to transfer a near region of said original image obtained at time t0 to a first transformed image in which said travelling road is viewed in a first direction that is different from an imaging direction of said original image, transfer near regions of past original images obtained before time t0 to past transformed images in which said travelling road is viewed in said first direction, connect said first transformed image and said past transformed images in an order of time to generate a second image, and confirm whether or not a detection result of said lane marking position detection part is correct based on said second image, wherein said turn signal control part is configured to control a turn signal provided on said travelling road, based on an examination result of said examination part.
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7. A lane marking detection method, comprising:
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acquiring an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; detecting a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and transferring a near region of said original image obtained at time t0 to a first transformed image in which said travelling road is viewed in a first direction that is different from an imaging direction of said original image, transferring near regions of past original images obtained before time t0 to past transformed images in which said travelling road is viewed in said first direction, connecting said first transformed image and said past transformed images in an order of time to generate a second image, and confirming whether or not a detection result of said lane marking position detection part is correct based on said second image.
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8. A non-transitory computer-readable medium in which a computer executable program code is stored to attain a lane marking detection method, the method comprising:
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acquiring an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; detecting a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and transferring a near region of said original image obtained at time t0 to a first transformed image in which said travelling road is viewed in a first direction that is different from an imaging direction of said original image, transferring near regions of past original images obtained before time t0 to past transformed images in which said travelling road is viewed in said first direction, connecting said first transformed image and said past transformed images in an order of time to generate a second image, and confirming whether or not a detection result of said lane marking position detection part is correct based on said second image.
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Specification