| 摘要 |
PROBLEM TO BE SOLVED: To provide a crosswalk recognition device capable of recognizing a crosswalk highly accurately by using a monocular camera.SOLUTION: A crosswalk recognition device includes an imaging apparatus and an image recognition device. The image recognition device comprises: a luminance change detection section which detects a luminance change on a horizontal line; a grouping section which determines the existence of first horizontal lines including a distribution pattern in which a first luminance change and a second luminance change repeat alternately, and groups the first horizontal lines; a crosswalk candidate area extraction section which extracts a group of a plurality of consecutive first horizontal lines as a crosswalk candidate area; a distance calculation section which calculates a distance to each group; and a crosswalk recognition section which excludes groups whose distance is equal to or greater than a threshold value and determines the area of a group whose distance is less than the threshold value to recognize a crosswalk. |
