Pedestrian-crossing marking detecting method and pedestrian-crossing marking detecting device

摘要

Provided are a pedestrian-crossing marking detecting method and a pedestrian-crossing marking detecting device, wherein the existence of pedestrian crossing markings and the positions thereof can be detected accurately from within a picked up image, even when detection of the intensity edges of painted sections is difficult. In the pedestrian-crossing mark detecting device (100), a road-surface distance of a predetermined range is calculated with respect to image data picked up from the periphery of the vehicle including the road, using camera installation information or a stereo camera's distance information, and the period of the pedestrian crossing markings is calculated on the basis of the road-surface distance of the predetermined range, and furthermore, a power of frequency is calculated using an even function and odd function of a square wave of the period as the basis function. In such a way, the existence of pedestrian crossing markings and the positions thereof can be detected accurately from within the captured image, even with pedestrian crossing markings where the paint has faded.

主权项

1. A pedestrian-crossing marking detecting device comprising:
an image data obtaining section that has a first imaging system and obtains image data on a road surface captured by the first imaging system; a period calculating section that calculates a period of painted portions on the image data when the painted portions of a pedestrian-crossing marking are included in a calculation range of the image data, based on coordinates of the calculation range, geometric parameters of the first imaging system and predefined values of the pedestrian-crossing marking; a frequency analyzing section that analyzes a frequency of an image intensity in the calculation range and calculates a frequency power distribution, based on the basis function in which the integral multiple of the period of the painted portions is assumed as one period; an area detecting section that extracts a coordinate point at which a power level in the frequency power distribution is larger than a predetermined threshold from the calculation range, and detects an area in which the coordinate point is present as a pedestrian-crossing marking area; and a position outputting section that outputs coordinate data on the pedestrian-crossing marking area in the image data.