| 摘要 |
<P>PROBLEM TO BE SOLVED: To estimate course parameters including the attitude angle of an imaging device to the course without fixing the angle of dip even when a lane on only one side is detected. <P>SOLUTION: A picked-up image shot by an imaging device 12 is acquired by a feature point extractor 20 to extract feature points from the picked-up image; lane boundary points representing a lane are selected from the extracted feature points by a lane boundary point selector 22, and temporarily stored into a lane boundary point memory 24; a course parameter estimator 26, under the assumption that the yaw angle and the curvature do not vary between two points of time, associates course parameters between the two points of time by having variations in transverse position between the two points of time represented by a velocity V and the yaw angle, and estimates the course parameters by optimizing a group of lane boundary points selected at each of the two points of time and a lane boundary line determined by the course parameters. <P>COPYRIGHT: (C)2012,JPO&INPIT |
