| 摘要 |
PROBLEM TO BE SOLVED: To remove the shadow of the sun from a road surface ortho image.SOLUTION: A vehicle includes a video camera (10) and a laser scanner (12). The video camera (10) of the traveling vehicle images a road surface, and the laser scanner (12) scans the same road surface in a width direction to measure reflection intensity. A road surface ortho image generation apparatus (32) generates road surface ortho image data (34) from video data of the video camera (10). A coordinate conversion apparatus (36), a mesh conversion apparatus (40), and a reflection intensity/height interpolation device (42) generate road surface reflection intensity image data (48) to be compared with the road surface ortho image data, from the reflection intensity data obtained by the laser scanner (12). A shadow part recognition apparatus (50) refers to the road surface reflection intensity image data (48) to recognize a shadow area. A shadow part correction apparatus (52) corrects the shadow area with color information of a peripheral part on the road surface ortho image data. |
