| 摘要 |
PROBLEM TO BE SOLVED: To surely detect a white line on the surface of a road by emphasizing the contrast of only the white line. SOLUTION: This white line detector is provided with an extraction means 2 for extracting the image of a white line detecting processing area set in a road image imaged by an imaging unit 1, an estimation means 2 for estimating the maximum value of pixels values in the image of the road surface except for the white line on the basis of the pixel values in the extracted image, a lowering means 2 for lowering the contrast of an image having the pixel value equal to or lower than the estimated maximum value of image values on the road surface except for the white line and a detection means for detecting the white line on the basis of the image after the contrast is lowered by the lowering means 2. By lowering the contrast of the pixel value equal to or lower than the maximum value of the pixel values on the road surface except for the white line, the contrast of a white line part is emphasized so that the S/N of the white line can be improved, and the white line can be surely detected. |
