Vehicle, Image Processing System, Image Processing Method, Image Processing Program, Image Processing System Configuration Method, and Server
First Claim
1. A vehicle equipped with:
- an imaging device;
an image processing system which performs image processing on the basis of a road image captured by the imaging device; and
a vehicle running condition control system which controls a running condition of the vehicle on the basis of a result of the image processing performed by the image processing system,wherein the image processing system includes;
a first processing unit which recognizes a lane mark candidate on the basis of the luminance of each pixel in the road image captured by the imaging device;
a first evaluation unit which evaluates a first index which represents continuity of an edge of the lane mark candidate recognized by the first processing unit;
a second evaluation unit which evaluates a second index which represents conformance between the width of the lane mark candidate recognized by the first processing unit and a lane mark standard width;
a third evaluation unit which generates a luminance of pixels contained in the lane mark candidate recognized by the first processing unit and then evaluates a third index which represents a variation in the luminance space of the histogram; and
a second processing unit which recognizes a lane mark candidate most likely to be a true lane mark as a lane mark on the basis of the first, second, and third indices evaluated by the first, second, and third evaluation units, respectively.
1 Assignment
0 Petitions
Accused Products
Abstract
An image processing system and the like capable of improving recognition accuracy of a lane mark are provided. According to the image processing system of the present invention, a first processing unit (110) recognizes a lane mark candidate on the basis of the luminance of each pixel in a road image. Moreover, there are evaluated a first index which represents continuity of an edge of the lane mark candidate, a second index which represents conformance between the width of the lane mark candidate and a lane mark standard width, and a third index which represents uniformity of the luminance of pixels contained in the lane mark candidate. According to the first, second, and third indices, a second processing unit (120) recognizes a lane mark candidate most likely to be a true lane mark as a lane mark.
33 Citations
18 Claims
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1. A vehicle equipped with:
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an imaging device; an image processing system which performs image processing on the basis of a road image captured by the imaging device; and a vehicle running condition control system which controls a running condition of the vehicle on the basis of a result of the image processing performed by the image processing system, wherein the image processing system includes; a first processing unit which recognizes a lane mark candidate on the basis of the luminance of each pixel in the road image captured by the imaging device; a first evaluation unit which evaluates a first index which represents continuity of an edge of the lane mark candidate recognized by the first processing unit; a second evaluation unit which evaluates a second index which represents conformance between the width of the lane mark candidate recognized by the first processing unit and a lane mark standard width; a third evaluation unit which generates a luminance of pixels contained in the lane mark candidate recognized by the first processing unit and then evaluates a third index which represents a variation in the luminance space of the histogram; and a second processing unit which recognizes a lane mark candidate most likely to be a true lane mark as a lane mark on the basis of the first, second, and third indices evaluated by the first, second, and third evaluation units, respectively. - View Dependent Claims (2, 3, 7, 17, 18)
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- 4. (canceled)
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8. An image processing system comprising:
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a first processing unit which recognizes a lane mark candidate on the basis of the luminance of each pixel in a road image captured by a vehicle-mounted imaging device; a first evaluation unit which evaluates a first index which represents continuity of an edge of the lane mark candidate recognized by the first processing unit; a second evaluation unit which evaluates a second index which represents conformance between the width of the lane mark candidate recognized by the first processing unit and a lane mark standard width; a third evaluation unit which generates a luminance histogram of pixels contained in the lane mark candidate recognized by the first processing unit and then evaluates a third index which represents a variation in the luminance space of the histogram; and a second processing unit which recognizes a lane mark candidate most likely to be a true lane mark as a lane mark on the basis of the first, second, and third indices evaluated by the first, second, and third evaluation units, respectively. - View Dependent Claims (9, 10, 14)
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- 11. (canceled)
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15. An image processing method comprising:
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a first processing step of recognizing a lane mark candidate on the basis of the luminance of each pixel in a road image captured by a vehicle-mounted imaging device; a first evaluation step of evaluating a first index which represents continuity of an edge of the lane mark candidate recognized in the first processing step; a second evaluation step of evaluating a second index which represents conformance between the width of the lane mark candidate recognized in the first processing step and a lane mark standard width; a third evaluation step of generating a luminance histogram of pixels contained in the lane mark candidate recognized in the first processing step and evaluating a third index which represents a variation in the luminance space of the histogram; and a second processing step of recognizing a lane mark candidate most likely to be a true lane mark as a lane mark on the basis of the first, second, and third indices evaluated in the first, second, and third evaluation steps, respectively.
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16. An image processing program which gives a computer:
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a first processing function of recognizing a lane mark candidate on the basis of the luminance of each pixel in a road image captured by a vehicle-mounted imaging device; a first evaluation function of evaluating a first index which represents continuity of an edge of the lane mark candidate recognized by the first processing function; a second evaluation function of evaluating a second index which represents conformance between the width of the lane mark candidate recognized by the first processing function and a lane mark standard width; a third evaluation function of generating a luminance histogram of pixels contained in the lane mark candidate recognized by the first processing function and evaluating a third index which represents a variation in the luminance space of the histogram; and a second processing function of recognizing a lane mark candidate most likely to be a true lane mark as a lane mark on the basis of the first, second, and third indices evaluated by the first, second, and third evaluation functions, respectively.
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Specification