System of detecting road white line, method for detecting road white line and storage medium storing program for detecting road white line
First Claim
1. A road marking line detecting system for processing a road image to detect a left side edge marking line and a right side edge marking line of a traveling lane in said road image, said system comprising:
- first means for detecting first left and right straight lines by which the left and the right marking lines are approximated in a lowest region of at least two regions positioned up and down on said road image, the regions obtained by dividing said road image;
second means for calculating a horizontal line in a region other than said lowest region in said road image from a first vanishing point, the first vanishing point being an intersection of said first left and right straight lines; and
third means for detecting second straight lines, by which the left and the right marking lines are approximated in a region other than said lowest region, by detecting an intersection of said second left and right straight lines on the horizontal line.
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Accused Products
Abstract
A system and method are provided which are capable of reliably and effectively detecting a white line in an upper region of a road image by dividing the road image into, at least, two regions positioned up and down and using a result from a detection of the white line in a lowest region where the road image is less affected by noise. When a road surface is planar, both intersections of straight lines, by which left and right white lines are approximated, in a lowest region out of regions, positioned up and down, obtained by dividing a road image containing left and right white lines drawn in parallel on the road surface and intersections of straight lines, by which left and right white lines are approximated in an upper region of out of the two regions existing on one horizontal line. The left and right first straight lines, by which the left and right white lines are approximated, are detected in the lowest region and a horizontal line is calculated from a first vanishing point being the intersection of the left and right straight lines, and based on a characteristic that the intersection of the left and right straight lines, by which the left and right white lines are approximated, are approximated in the upper region, existing on the horizontal line, the intersection is detected and straight lines, by which the left and right white lines are approximated, is obtained in the upper region.
53 Citations
21 Claims
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1. A road marking line detecting system for processing a road image to detect a left side edge marking line and a right side edge marking line of a traveling lane in said road image, said system comprising:
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first means for detecting first left and right straight lines by which the left and the right marking lines are approximated in a lowest region of at least two regions positioned up and down on said road image, the regions obtained by dividing said road image;
second means for calculating a horizontal line in a region other than said lowest region in said road image from a first vanishing point, the first vanishing point being an intersection of said first left and right straight lines; and
third means for detecting second straight lines, by which the left and the right marking lines are approximated in a region other than said lowest region, by detecting an intersection of said second left and right straight lines on the horizontal line. - View Dependent Claims (2, 3, 4)
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5. A road marking line detecting method for processing a road image to detect a left edge marking line and a right edge marking line of a travelling lane in said road image, said method comprising:
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detecting first left and right straight lines, by which the left marking line and the right marking line are approximated in a lowest region of at least two regions positioned up and down on said road image, the regions obtained by dividing said road image;
calculating a horizontal line from a first vanishing point, the first vanishing point being an intersection of said first left and right straight lines; and
detecting second left and right straight lines, by which the left and right marking lines are approximated in an upper region, the upper region being a region other than said lowest region, by detecting an intersection of the second left and right straight lines on said horizontal line. - View Dependent Claims (6, 7, 8)
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9. A machine readable storage medium storing a program for processing a road image to detect a left edge road marking line and a right edge road marking line of a travelling lane in the road image said program configured to cause a computer to carry out:
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(a) detecting first left and right straight lines by which the left marking line and the right marking line are approximated in a lowest region of at least two regions positioned up and down on a road image, the regions obtained by dividing said road image;
(b) calculating a horizontal line from a first vanishing point, the first vanishing point being an intersection of said first left and right straight lines; and
(c) detecting second straight lines by which the left and the right marking lines are approximated in a region other than said lowest region, by detecting an intersection on said horizontal line of the second left and right straight lines by which the left and the right marking lines are approximated in said region other than said lowest region in said road image. - View Dependent Claims (10, 11, 12)
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13. A road marking line detecting system for processing a road image to detect a left edge marking line and a right edge marking line of a travelling lane in said road image, said system comprising a computer and a program causing said computer to carry:
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(a) detecting first left and right straight lines, by which the left marking line and the right marking line is approximated in a lowest region of at least two regions positioned up and down in said road image obtained by dividing said road image;
(b) calculating a horizontal line from a first vanishing point, the first vanishing point being an intersection of said first left and right straight lines; and
(c) detecting second straight lines by which the left and the right marking lines are approximated in a region other than said lowest region, by detecting on said horizontal line an intersection of the second left and right straight lines, by which the left and the right marking lines are approximated in said region other than said lowest region in said road image. - View Dependent Claims (14, 15, 16)
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17. A road marking line detecting system for processing a road image to detect a virtual left edge marking line and a virtual right edge marking line indicating a travelling lane in said road image, said system including a computer and a program causing said computer to carry out:
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(a) detecting first left and right first straight lines by which left and right virtual marking lines are approximated in a lowest region of at least two regions positioned up and down on a road image obtained by dividing said road image;
(b) calculating a horizontal line from a first vanishing point, the vanishing point being an intersection of said first left and right straight lines; and
(c) detecting second left and right straight lines by which the left and the right virtual marking lines are approximated in a region other than said lowest region, by detecting on said horizontal line an intersection of the second left and right straight lines, by which the left and the right virtual marking lines are approximated in said region other than said lowest region in said road image. - View Dependent Claims (18, 19)
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20. A road image processor to detect marking lines based on a road image for determining a travelling lane, said processor comprising:
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a featuring point extractor configured to construct first left and right straight lines, by which a left marking line and a right marking line are approximated in a lowest region of at least two regions on the road image, the regions obtained by dividing the road image into the lowest region and at least one upper region;
a horizontal line calculator configured to calculate a horizontal line near an upper bound of an upper region in the road image, based on a first vanishing point, the first vanishing point being an intersection of said first left and right straight lines;
an upper region straight line detector configured to detect second left and right straight lines, by which the left marking line and the right marking lines are approximated in the upper region, based on intercepts at the terminal points near a bound of the lowest region of the first left straight line and the first right straight line and based on an intersection of the second left straight line and the second right straight line on the horizontal line, the intersection being a second vanishing point. - View Dependent Claims (21)
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Specification