Pedestrian-crossing marking detecting method and pedestrian-crossing marking detecting device
First Claim
1. A pedestrian-crossing marking detecting device comprising:
- an image data obtaining section that has a first imaging system and obtains image data on a road surface captured by the first imaging system;
a period calculating section that calculates a period of painted portions on the image data when the painted portions of a pedestrian-crossing marking are included in a calculation range of the image data, based on coordinates of the calculation range, geometric parameters of the first imaging system and predefined values of the pedestrian-crossing marking;
a frequency analyzing section that analyzes a frequency of an image intensity in the calculation range and calculates a frequency power distribution, based on the basis function in which the integral multiple of the period of the painted portions is assumed as one period;
an area detecting section that extracts a coordinate point at which a power level in the frequency power distribution is larger than a predetermined threshold from the calculation range, and detects an area in which the coordinate point is present as a pedestrian-crossing marking area; and
a position outputting section that outputs coordinate data on the pedestrian-crossing marking area in the image data.
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Accused Products
Abstract
Provided are a pedestrian-crossing marking detecting method and a pedestrian-crossing marking detecting device, wherein the existence of pedestrian crossing markings and the positions thereof can be detected accurately from within a picked up image, even when detection of the intensity edges of painted sections is difficult. In the pedestrian-crossing mark detecting device (100), a road-surface distance of a predetermined range is calculated with respect to image data picked up from the periphery of the vehicle including the road, using camera installation information or a stereo camera'"'"'s distance information, and the period of the pedestrian crossing markings is calculated on the basis of the road-surface distance of the predetermined range, and furthermore, a power of frequency is calculated using an even function and odd function of a square wave of the period as the basis function. In such a way, the existence of pedestrian crossing markings and the positions thereof can be detected accurately from within the captured image, even with pedestrian crossing markings where the paint has faded.
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Citations
10 Claims
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1. A pedestrian-crossing marking detecting device comprising:
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an image data obtaining section that has a first imaging system and obtains image data on a road surface captured by the first imaging system; a period calculating section that calculates a period of painted portions on the image data when the painted portions of a pedestrian-crossing marking are included in a calculation range of the image data, based on coordinates of the calculation range, geometric parameters of the first imaging system and predefined values of the pedestrian-crossing marking; a frequency analyzing section that analyzes a frequency of an image intensity in the calculation range and calculates a frequency power distribution, based on the basis function in which the integral multiple of the period of the painted portions is assumed as one period; an area detecting section that extracts a coordinate point at which a power level in the frequency power distribution is larger than a predetermined threshold from the calculation range, and detects an area in which the coordinate point is present as a pedestrian-crossing marking area; and a position outputting section that outputs coordinate data on the pedestrian-crossing marking area in the image data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A pedestrian-crossing marking detecting method comprising the steps of:
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obtaining image data on a road surface captured by an imaging system; calculating a period of painted portions when the painted portions of a pedestrian-crossing marking are included in a calculation range of the image data, based on coordinates of the calculation range, geometric parameters of the imaging system, and predefined values of the pedestrian-crossing marking; performing a frequency analysis of an image intensity in the calculation range and calculating a frequency power distribution, based on the basis function in which the integral multiple of the period of the painted portions is assumed as one period; extracting a coordinate point at which a power level in the frequency power distribution is larger than a predetermined threshold from the calculation range, and detecting an area in which the coordinate point is present as a pedestrian-crossing marking area; and outputting coordinate data on the pedestrian-crossing marking area in the image data. - View Dependent Claims (10)
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Specification