ROAD EDGE DETECTION SYSTEM, METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a technique for enabling accurate detection of a road edge on the basis of a single image.SOLUTION: A road edge detection system performs: detecting a road edge line that is a line corresponding to an edge of a road in a width direction within an image taken by a camera; recognizing a candidate line constituting a candidate of a road edge in the image; setting, in the image, an internal zone that is a zone at the center side of the road in the width direction from the candidate line and an external zone that is a zone at the opposite side to the center of the road in the width direction from the candidate line; detecting a vertical edge vertical to a road surface of the road for each of the internal and external zones; determining whether the candidate line is a road edge line on the basis of the detection result of the vertical edge for the internal zone and that of the vertical edge for the external zone.