| 摘要 |
In a lane marker recognition method comprising the steps of inputting an image including a lane marker (S1), extracting (S2) a luminance change point in the image input in the image inputting step, and estimating the position of the lane marker (S4) using the edge points (4) extracted in the edge extracting step (S2), the edge extracting step calculates an angle of orientation of each of the edges and the lane marker position estimating step (S4) extracts edge points (4) that are oriented toward a vanishing point (10) of a road from among the edge points extracted in the edge extracting step. |
