Line recognition apparatus, line recognition method and line recognition program storage medium

摘要

A line recognition apparatus for recognizing a line on a surface over which a vehicle moves, using an image of an area ahead of the vehicle captured by an image capturing unit mounted on the vehicle, includes a dividing line setting unit to set a dividing line in the captured image area ahead of the vehicle to divide the captured image area into a first image area corresponding to a surface close to the vehicle and a second image area in the captured image area corresponding to a surface far from the vehicle; a straight line recognition unit to conduct a linear approximation to an image in the first image area to recognize a straight line; and a curved line recognition unit to conduct a curved line approximation to an image in the second image area to recognize a curved line.

主权项

1. A line recognition apparatus for recognizing a line on a surface over which a vehicle moves, using an image of an area ahead of the vehicle captured by an image capturing unit mounted to the vehicle, the line recognition apparatus comprising:
circuitry configured as a type information input unit to input surface type information of surfaces over which the vehicle moves; a dividing line setting unit to set a dividing line, based on the input surface type information, in the captured image area ahead of the vehicle to divide the captured image area into a first image area corresponding to a surface close to the vehicle and a second image area in the captured image area corresponding to a surface far from the vehicle; a straight line recognition unit to conduct a linear approximation to an image in the first image area to recognize a straight line in the captured image area ahead of the vehicle; and a curved line recognition unit to conduct a curved line approximation to an image in the second image area to recognize a curved line in the captured image area ahead of the vehicle.