| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect straight lines to be candidates of both left and right ends of a line of a parking frame, prevent misdetection of an unrelated straight line as both ends of a line of the parking frame, and accurately detect the parking frame. SOLUTION: A parking frame detection device of the present invention comprises: imaging means that images the rear of a vehicle; edge extraction means that extracts edges from the imaged rear image; image conversion means that converts the image with the edges extracted therefrom into an overhead view image; area division means that divides the converted overhead view image into left and right areas; straight line detection means that detects straight lines in each area by Hough transform from the divided left and right areas; first determination means that determines whether the detected straight line is an end of a line having a width; and second determination means that creates a combination of two straight lines for each of the left and right areas from plural straight lines determined to be an end of a line having a width, and determines whether the combination is both ends of a line having a width. COPYRIGHT: (C)2012,JPO&INPIT |
