| 摘要 |
PROBLEM TO BE SOLVED: To make compatible robustness and high accuracy by estimating a disappearing point while using only lines, in which a specified number of lines alternately cross near, out of the combination of detected white lines or road end lines and other lines found from substitutive feature points. SOLUTION: A picked-up image is provided by an image pick means 801 and lines such as white lines or road end lines more than four are extracted by a means 802 for estimating the white line/road end line from the feature points of white lines/road ends with respect to this image. Next, three lines are selected out of detected lines and three intersections are found by applying a means for finding the mutual intersections of three estimated lines. Afterwards, the distance of three intersections is evaluated by a means 804 for evaluating it as an index, three intersections to most shorten the sum of mutual distance is found and the other intersections are excluded. In respect to three intersections to most shorten the sum of mutual distances, the disappearing point is estimated by a means 805 for estimating the disappearing point from recent three intersections.
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