| 摘要 |
<P>PROBLEM TO BE SOLVED: To surely discriminate any obstruction on a road surface from the cover of a manhole or cats eye(rivet) on the road surface on an image so as to accurately recognize an obstruction ahead of its own vehicle by image processing whose calculation quantity is much more extremely smaller than a conventional manner of the photographic image ahead of its own vehicle of a camera for obstruction survey mounted on its own vehicle. <P>SOLUTION: The candidate region of an obstruction is set from a section where the product of the histograms of the horizontal and vertical binarized image edges of the photographic image of a camera is turned to be maximum, and the horizontal and vertical latest edge histogram as the candidate object featured values of this region and the horizontal and vertical reference edge histogram of each magnification are moved in parallel within a predicted movement range, and the minimum values of the horizontal and vertical residual sums are calculated, and whether or not the candidate object is a road surface vertical object on the road surface is determined based on whether or not magnification by which the both residual sums are turned to be minimum is equal, and it is detected that the candidate region is a proper region on the road surface by determining the road surface vertical object so that the obstruction can be recognized from the image of the candidate region. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
