Road lane marker detection apparatus and road lane marker detection method
First Claim
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1. A road lane marker detection apparatus which detects a road lane marker on a road, comprising:
- an imaging portion that captures an image of a road surface such that a left road lane marker and a right road lane marker that demarcate a lane are captured in the image;
a feature point obtaining portion that obtains feature points of the road lane markers based on the captured image obtained by the imaging portion;
a storing portion that stores the feature points obtained by the feature point obtaining portion; and
a lane marker detecting portion that detects the road lane markers based on the feature points read from the storing portion,wherein the storing portion includes a first storage area in which the feature points of the left road lane marker are stored and a second storage area in which the feature points of the right road lane marker are stored, and the number of feature points able to be stored in the first storage area and the number of feature points able to be stored in the second storage area are set independently of one another,the feature point obtaining portion includes a discontinuous searching portion and a continuous searching portion,the discontinuous searching portion searches for the feature points in each row of pixels in a width direction of the road in a predetermined region that includes the left road lane marker and the right road lane marker in the captured image, and searches the rows of pixels discontinuously in a length direction of the road, andthe continuous searching portion searches for the feature points in each row of pixels in the predetermined region, and searches the row of pixels continuously in the length direction of the road.
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Abstract
A road lane marker detection apparatus includes an imaging portion that captures an image of the road surface such that a first road lane marker and a second road lane marker are captured in the image; a feature point obtaining portion that obtains feature points of the road lane markers; a storing portion that stores the feature points obtained; and a lane marker detecting portion that detects the road lane markers. The storing portion includes a first storage area in which the feature points of the first road lane marker are stored and a second storage area in which the feature points of the second road lane marker are stored. The number of feature points able to be stored in the first storage area and the number of feature points able to be stored in the second storage area are set independently of one another.
10 Citations
16 Claims
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1. A road lane marker detection apparatus which detects a road lane marker on a road, comprising:
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an imaging portion that captures an image of a road surface such that a left road lane marker and a right road lane marker that demarcate a lane are captured in the image; a feature point obtaining portion that obtains feature points of the road lane markers based on the captured image obtained by the imaging portion; a storing portion that stores the feature points obtained by the feature point obtaining portion; and a lane marker detecting portion that detects the road lane markers based on the feature points read from the storing portion, wherein the storing portion includes a first storage area in which the feature points of the left road lane marker are stored and a second storage area in which the feature points of the right road lane marker are stored, and the number of feature points able to be stored in the first storage area and the number of feature points able to be stored in the second storage area are set independently of one another, the feature point obtaining portion includes a discontinuous searching portion and a continuous searching portion, the discontinuous searching portion searches for the feature points in each row of pixels in a width direction of the road in a predetermined region that includes the left road lane marker and the right road lane marker in the captured image, and searches the rows of pixels discontinuously in a length direction of the road, and the continuous searching portion searches for the feature points in each row of pixels in the predetermined region, and searches the row of pixels continuously in the length direction of the road. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification
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Current AssigneeToyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
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Original AssigneeToyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
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InventorsKageyama, Shioya, Tamaoki, Tomoyasu
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Primary Examiner(s)Osman, Ramy M
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Application NumberUS12/627,512Publication NumberTime in Patent Office897 DaysField of Search348/148, 382/104, 382/148, 382/190US Class Current382/104CPC Class CodesG06V 20/588 Recognition of the road, e....
