Lane marker recognition method
First Claim
Patent Images
1. A lane marker recognition method, comprising the steps of:
- inputting an image including a lane marker;
extracting an edge point, which is a luminance change point in the image input in the image inputting step, and calculating an angle representing an orientation of each of the edge points extracted; and
estimating a position of the lane marker by extracting, from among the edge points extracted in the edge extracting step, those edge points the angles of which are a predetermined value or fall within a predetermined range of values.
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Abstract
In a lane marker recognition method comprising the steps of inputting an image including a lane marker, extracting a luminance change point in the image input in the image inputting step, and estimating the position of the lane marker using the edge points extracted in the edge extracting step, the edge extracting step calculates an angle of orientation of each of the edges and the lane marker position estimating step extracts edge points that are oriented toward a vanishing point of a road from among the edge points extracted in the edge extracting step.
74 Citations
9 Claims
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1. A lane marker recognition method, comprising the steps of:
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inputting an image including a lane marker;
extracting an edge point, which is a luminance change point in the image input in the image inputting step, and calculating an angle representing an orientation of each of the edge points extracted; and
estimating a position of the lane marker by extracting, from among the edge points extracted in the edge extracting step, those edge points the angles of which are a predetermined value or fall within a predetermined range of values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A lane marker recognition method, comprising the steps of:
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inputting an image including a lane marker;
changing in advance a ratio of width to height of the image input in the image inputting step;
extracting an edge point, which is a luminance change point in the image changed in advance, and calculating an angle representing an orientation of each of the edge points extracted; and
estimating a position of the lane marker by extracting, from among the edge points extracted in the edge extracting step, those edge points the angles of which are a predetermined value or fall within a predetermined range of values.
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Specification