Title:
BOUNDARY RECOGNITION DEVICE AND BRANCH ASSESSMENT DEVICE
Document Type and Number:
WIPO Patent Application WO/2014/104183
Kind Code:
A1
Abstract:
A boundary recognition device is provided with: a camera (10) which captures a path of a vehicle; and a boundary candidate extraction unit (20) which, on the basis of brightness of the captured image, extracts edge candidate points of a boundary that delimits the path, and extracts candidate lines for the boundary on the basis of sequences of the extracted edge candidate points. The device is additionally provided with a width calculation unit (31), a boundary feature calculation unit (30), and a boundary recognition unit (60). The width calculation unit, in the extracted candidate lines for the boundary, on the basis of widths of the candidate lines in the horizontal direction of the image, and angles of the candidate lines with respect to the vertical direction of the image, calculates apparent widths upon the image of the candidate lines. The boundary feature calculation unit calculates the probabilities that the candidate lines are boundaries to be high in proportion to the magnitudes of degrees that the candidate lines are provided with features of a boundary. The boundary recognition unit integrates the probabilities calculated by the boundary feature calculation unit with regard to a plurality of the features, and recognizes boundaries. The features as a plurality of boundaries includes ratios of the apparent widths calculated by the width calculation unit with respect to unsharpness of the image being greater than a predetermined value.
Inventors:
KUMANO SYUNYA (JP)
KAWASAKI NAOKI (JP)
SUZUKI SHUNSUKE (JP)
TAKAFUJI TETSUYA (JP)
HASHIMOTO KAZUMA (JP)
KAWASAKI NAOKI (JP)
SUZUKI SHUNSUKE (JP)
TAKAFUJI TETSUYA (JP)
HASHIMOTO KAZUMA (JP)
Application Number:
PCT/JP2013/084866
Publication Date:
July 03, 2014
Filing Date:
December 26, 2013
Export Citation:
Assignee:
NIPPON SOKEN (JP)
DENSO CORP (JP)
DENSO CORP (JP)
International Classes:
G06T1/00; G06T7/60
Foreign References:
| JP2001236506A | 2001-08-31 | |||
| JP2003337950A | 2003-11-28 | |||
| JP2012058983A | 2012-03-22 | |||
| JP2006349492A | 2006-12-28 | |||
| JP2007164636A | 2007-06-28 | |||
| JP2007003286A | 2007-01-11 | |||
| JP2005346383A | 2005-12-15 |
Attorney, Agent or Firm:
KIKUCHI, YASUHIRO (JP)
Yasuhiro Kikuchi (JP)
Yasuhiro Kikuchi (JP)
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