| 摘要 |
<P>PROBLEM TO BE SOLVED: To precisely and certainly recognize an obstacle which is perpendicular to the ground by an easy method through simple processing of photographic images. Ž<P>SOLUTION: The photographic images for nearly the same road surface areas photographed by a photographing means 3 of one's own traveling vehicle 1 from a plurality of different directions are obtained by an image acquisition means of an image processing means 4. Then each obtained image is converted into a differential binary image and line widths are broadened by a differential binarization means and an expansion means in the image processing means 4. Then line widths is restored to original widths by shrinking the different parts in the expanded image in a calculating means and a shrinking means in the image processing means 4, and generates an image which contains only an obstacle image that is perpendicular to the ground. The recognition means of the image processing means 4 recognizes an obstacle based on the generated image. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
|
