| 摘要 |
PURPOSE:To obtain the detector capable of performing highly precise run road detection without increasing the operation quantity of image processing. CONSTITUTION:An outside image is input from an image input means 1 and a particular search area for performing the search of a run road end in the image is set in a search area setting means 2. Within a candidate point detection means 3 only the inside of the search area is searched and a candidate point presumed to compose a part of a run road end is detected. In a run road end approximation means 4 an approximation straight line passing each detected candidate point is found as the run road end. In a search area position correction means 5 the set position of the search area is corrected on the basis of the approximated straight line. As above-mentioned the search area is set to always pursue the position of the run road end. |
