| 摘要 |
PROBLEM TO BE SOLVED: To provide a road recognition device detecting a road surface region of a road surface from within a taken image with precision and in real time. SOLUTION: The road recognition device 1 includes: an integration means 6 for integrating one element pi, j in an image T and an adjacent pixel p into one group g based on a differenceΔD of the brightness Di, j of the one pixel pi, j to the brightness D of the pixel p adjacent to the one pixel pi, j and a differenceδD of the brightness Di, j to the average value Dave of the brightness D of the group g to which the adjacent pixel p belongs; and a road surface region detection means 9 which detects the group g as a group G belonging to the road surface region of the road surface if a pixel row j exists where breadth Wj per pixel row j of the group g is equal to or greater than a breadth threshold Wth, the average value Nave of the breadth Nj is equal to or greater than an average value threshold Nave_th, the average value Dave of the brightness of the group g is equal to or less than a brightness average threshold Dave_th, and an area A within the region R of the group g is equal to or greater than an area threshold Ath. COPYRIGHT: (C)2011,JPO&INPIT
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