| 摘要 |
A line recognition apparatus (200) 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 (101) mounted on the vehicle. The line recognition apparatus (200) includes a dividing line setting unit (206) 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 (401) corresponding to a surface close to the vehicle and a second image area (402) in the captured image area corresponding to a surface far from the vehicle; a straight line recognition unit (207) to conduct a linear approximation to an image in the first image area (401) to recognize a straight line in the captured image area; and a curved line recognition unit (208) to conduct a curved line approximation to an image in the second image area (402) to recognize a curved line in the captured image area. |
