TRAFFIC LANE RECOGNITION IMAGE PROCESSING APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a traffic lane recognition image processing apparatus that enhances its performance regarding the recognition of lane marking by adding conditions so as to prevent detection errors without changing the basic principles of a one-dimensional image filter.

SOLUTION: The traffic lane recognition image processing apparatus includes a window setting means 103 for setting the range of searches for lane marking over images by means of a window W; a candidate point extraction means 104 for extracting candidate points P1, P2 for lane marking from the range of searches; and a traffic lane recognition means 105 for approximating a set of candidate points by means of a mathematical model formula and deriving a mathematical model formula for lane marking. The candidate point extraction means 104 includes a kernel size setting means 141a; a one-dimensional image filter processing means 141 for setting as a filter processing result E the smaller of differences äg(h)-g(h-Δh)} and äg(h)-g(h+Δh)} between the gray value of a pixel of interest and the gray value of another pixel that is away from the gray value by a kernel size along scan direction; and a binarization means 142 for binarizing the filter processing result E.

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