JP2009163714A5

JP2009163714A5 -

Info

Publication number: JP2009163714A5
Application number: JP2008279978A
Authority: JP
Filing date: 2008-10-30
Publication date: 2011-10-06
Anticipated expiration: 2028-10-30

Claims

A sign determination device for determining a sign,
Difference image generation means for generating a difference image by calculating a difference between an image at the time when the near infrared illumination is irradiated and an image at the time when the near infrared illumination is not irradiated;
Based on the difference image generated by the difference image generation means, an area detection means for detecting a sign area in the image;
When images captured continuously are acquired, the sign areas included in each image are stored in association with each other, and the sign area is based on the sign area in the image and the color or monochrome image. A label determination apparatus comprising: a label determination unit that determines a type and determines a label area in another image associated with the label area as the same label type .

Position detecting means for detecting the position of a moving body equipped with a camera for taking a color or monochrome image, the position of the moving body at the time of image shooting detected by the position detecting means, and the shooting direction of the image And a sign position specifying means for specifying the position of the sign on the map based on the position of the sign determined by the sign determining means in the image. Sign judging device.

The sign determination means acquires color information from the color or monochrome image area corresponding to the sign area in the image detected by the area detection means, and sets a plurality of colors included in the color information in advance. 2. The grouping into any one of the color classifications of types, the regions belonging to the same group of colors are determined as a series of regions, and the type of sign is determined based on the determined shape of the series of regions Or the label | marker determination apparatus of 2.

A sign determination method for a sign determination apparatus for determining a sign,
The sign determination device includes a near-infrared illumination that emits near-infrared light and a camera that captures a color or monochrome image,
A storage step of storing, in a storage device, an image when the near-infrared illumination is irradiated and an image when the near-infrared illumination is not irradiated;
An image when the near-infrared illumination is irradiated and an image when the near-infrared illumination is not irradiated are acquired from the storage device, and a difference image is generated by calculating a difference between the acquired images. A difference image generation step;
Based on the difference image generated by the difference image generation step, an area detection step for detecting a sign area in the image;
When images captured continuously are acquired, the sign areas included in each image are stored in association with each other, and the sign area is based on the sign area in the image and the color or monochrome image. A label determination method, comprising: a label determination step of determining a type and determining a label area in another image associated with the label area as the same label type .