| 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 area extraction section which determines whether luminance change points having the same luminance change line up in a group between different first horizontal lines, further determines whether an alignment direction of the group is close to or far from a vertical direction, and extracts a vertical direction range of a second horizontal line area when second horizontal lines including a group of luminance change points whose alignment direction is close to the vertical direction exist in the number equal to or greater than a predetermined number; and a crosswalk recognition section which excludes third horizontal lines which do not pass through the second horizontal line area from horizontal line candidates which pass through a crosswalk area to recognize a crosswalk. |
