| 摘要 |
<P>PROBLEM TO BE SOLVED: To precisely extract multiple lines that are parallel on three-dimensional space and whose hourly change of positions, directions and curvatures are almost continuous at high speed from a time sequential picture acquired by a camera. <P>SOLUTION: A device is provided with: a picture input part 1 acquiring the picture; a picture accumulation part 2 for accumulating the picture which the picture input part 1 acquires; a luminance gradient calculation part 3 for calculating luminance gradients of points in the picture accumulated by the picture accumulation part 2; a reference direction table generation part 4 for obtaining an initial value of a reference direction vector of the points in the picture; a reference direction calculation part 5 for obtaining reference directions of the points from the initial value of the reference direction vector of the points obtained in the reference direction table generation part 4 and a road shape parameter; a white line candidate point extraction part 6 for extracting a white line candidate point from a gradient vector of the points which is obtained in the luminance gradient calculation part 3, and a reference white line direction vector of the points which is obtained in the reference direction calculation part 5; and a white line detection part 7 for extracting a white line from the white line candidate points obtained in the white line candidate point extraction part 6. <P>COPYRIGHT: (C)2004,JPO |
