| 摘要 |
PROBLEM TO BE SOLVED: To provide a vanishing point estimation device, stably estimating a position of vanishing point without increasing computational complexity even when only a single line is detected from a captured image. SOLUTION: When a straight running determination unit 48 determines that a vehicle is traveling straight, a straight line detection unit 42 detects a straight line in an image from characteristic points extracted from the captured image by characteristic point extraction processing of an image processing unit 41, and calculates a parameter (straight line information) showing the straight line. An intersection calculation unit 44 calculates an intersection position between current straight lines identified from the straight line information calculated by the straight line detection unit 42 in the current estimation cycle, and an intersection position between a current straight line and a past straight line identified from the straight line information calculated in the previous estimation cycle, which is stored in the straight line information storage unit 43. A counting unit 45 counts appearance frequencies of the intersection positions calculated by the intersection calculation unit 44 with respect to each of X-axial direction and Y-axial direction, and estimates a position of vanishing point in the image from a frequency distribution as a result of counting. COPYRIGHT: (C)2011,JPO&INPIT
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