| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a road recognition device and a road recognition method, mainly useful for a road monitoring camera system. <P>SOLUTION: This road recognition device 8 of the road monitoring camera system 10 has: an imaging means 1 imaging an area including a road white line Lw or a road area A; an edge information extraction means 2 extracting edge information E from a luminance value of a pixel in imaged information D; a straight line candidate detection means 3 sequentially performing Hough transformation of a straight line to the edge information E in a widened target range while designating the prescribed target range in an imaging screen V and stepwise widening it, so as to detect a straight line candidates L1, and L2 or the like; a holding means 4 dividing the obtained straight line candidates in each the widened target range, and holding them; a horizontal line detection means 5 detecting an intersection point Vp of the prescribed straight lines from them to detect a position of a horizontal line S in the imaging screen V; and a road recognition means 6 selecting the straight line candidate L1, L2 or the like in and below the position of the horizontal line S from the holding means 4, recognizing the road white line Lw or the road area A on the basis thereof. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
