| 摘要 |
PROBLEM TO BE SOLVED: To precisely detect a white line drawn on a road face, based on a picked-up image obtained by imaging the road face in the periphery of a vehicle. SOLUTION: An image conversion part 21 converts the picked-up image of the road face into a lookdown image of viewing the road face from just above, a white line candidate pixel searching part 22 searches a white line candidate pixel indicating the white line drawn on the road face in the lookdown image, a white line detecting part 23 regulates weighting for the white line candidate pixel to remove an error influence generated when converting the picked-up image into the lookdown image, when finding an approximate straight line from the white line candidate pixel, and detects the white line, based on the approximate straight line found from the white line candidate pixel after weight-regulated, and the white line drawn on the road face is precisely detected thereby. COPYRIGHT: (C)2009,JPO&INPIT
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