Lane recognition apparatus
First Claim
1. A lane recognition apparatus that recognizes a dashed or dotted line lane boundary from an input image sequence captured from a visual sensor mounted on a vehicle at a fixed time interval, comprising:
- a time series smoothing part configured to generate a smoothed feature image based on a feature image extracted from the input image sequence such that a dashed or dotted line lane boundary describes a linear locus over time;
a gradient image generation part configured to generate a gradient image by estimating a feature value gradient at each pixel position of the smoothed feature image;
a Hough transform part configured to perform a Hough transform on the gradient image and to detect lines of edges in the smoothed feature image, wherein the time series smoothing part, the gradient image generation part, and the Hough transform part are implemented by at least one of a large scale integrated circuit or a CPU; and
a feature image extraction part configured to extract the feature image indicating a likelihood of the lane boundary by a feature value based on peripheral pixels at each pixel position of a projection image of a road surface and to supply the feature image to the time series smoothing part,wherein the feature image extraction part takes pixel values of periphery of each position of a road surface projection image as an input to an image filter, which outputs a real number value or an integral number value indicating positions where a likelihood of existence of a lane marker such as a white line is high.
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Abstract
A lane recognition apparatus that recognizes a lane from an input image sequence captured from a visual sensor mounted on a vehicle at a fixed time interval, includes a time series smoothing part for generating a smoothed feature image based on a feature image extracted from the input image sequence so that a dotted line lane boundary describes a linear locus over time, a gradient image generation part for generating a gradient image by estimating a feature value gradient at each pixel position of the smoothed feature image, and a Hough transform part for performing Hough transform on the gradient image and detecting lines of edges in the smoothed feature image.
10 Citations
10 Claims
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1. A lane recognition apparatus that recognizes a dashed or dotted line lane boundary from an input image sequence captured from a visual sensor mounted on a vehicle at a fixed time interval, comprising:
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a time series smoothing part configured to generate a smoothed feature image based on a feature image extracted from the input image sequence such that a dashed or dotted line lane boundary describes a linear locus over time; a gradient image generation part configured to generate a gradient image by estimating a feature value gradient at each pixel position of the smoothed feature image; a Hough transform part configured to perform a Hough transform on the gradient image and to detect lines of edges in the smoothed feature image, wherein the time series smoothing part, the gradient image generation part, and the Hough transform part are implemented by at least one of a large scale integrated circuit or a CPU; and a feature image extraction part configured to extract the feature image indicating a likelihood of the lane boundary by a feature value based on peripheral pixels at each pixel position of a projection image of a road surface and to supply the feature image to the time series smoothing part, wherein the feature image extraction part takes pixel values of periphery of each position of a road surface projection image as an input to an image filter, which outputs a real number value or an integral number value indicating positions where a likelihood of existence of a lane marker such as a white line is high. - View Dependent Claims (2, 3, 4, 9)
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5. A lane recognition apparatus that recognizes a dashed or dotted line lane boundary from an input image sequence captured from a visual sensor mounted on a vehicle at a fixed time interval, comprising:
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time series smoothing means for generating a smoothed feature image based on a feature image extracted from the input image sequence such that a dashed or dotted line lane boundary describes a linear locus over time; gradient image generation means for generating a gradient image by estimating a feature value gradient at each pixel position of the smoothed feature image; and Hough transform means for performing a Hough transform on the gradient image and to detect lines of edges in the smoothed feature image; and feature image extraction means for extracting the feature image indicating a likelihood of the lane boundary by a feature value based on peripheral pixels at each pixel position of a projection image of a road surface and to supply the feature image to the time series smoothing means, wherein the feature image extraction means takes pixel values of periphery of each position of a road surface projection image as an input to an image filter, which outputs a real number value or an integral number value indicating positions where a likelihood of existence of a lane marker such as a white line is high. - View Dependent Claims (6, 7, 8, 10)
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Specification