| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect a line without checking an end point every time voting is performed and without increasing the division number of a parameter space. SOLUTION: A feature point coordinate (x, y) is inputted to a decision circuit 10 and the feature point coordinate is transformed to a pole coordinate (ρ,θ) by Hangh transformation. Whether or not a curve indicated by the transformed pole coordinate (ρ,θ) passes through respective candidates 1-n is judged, and in the case that the curve passes through the candidates, the feature point coordinate is inputted to a weight decision device 16, weight to be added to a vote to be voted is decided, a counter for counting the votes of the passing candidates is specified and the decided weight is inputted to the counter as the vote. Simultaneously with voting, the feature point coordinate is stored in a feature point memory corresponding to the counter to which voting is performed. At the point of time of ending voting for the entire feature points, an arithmetic circuit 18 reads the feature point coordinate stored in the feature point memory corresponding to the counter for which the number of the votes is equal to or more than a threshold and obtains a line segment by the method of least squares or the like from the read feature point coordinate.
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