WO2009072507A1 - 路面標示認識装置，路面標示認識方法及び路面標示認識プログラム - Google Patents

路面標示認識装置，路面標示認識方法及び路面標示認識プログラム Download PDF

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Publication number
WO2009072507A1
WO2009072507A1 PCT/JP2008/071925 JP2008071925W WO2009072507A1 WO 2009072507 A1 WO2009072507 A1 WO 2009072507A1 JP 2008071925 W JP2008071925 W JP 2008071925W WO 2009072507 A1 WO2009072507 A1 WO 2009072507A1
Authority
WO
WIPO (PCT)
Prior art keywords
pavement marker
marker recognition
pavement
road shape
video image
Prior art date
Application number
PCT/JP2008/071925
Other languages
English (en)
French (fr)
Inventor
Katsuhiko Takahashi
Original Assignee
Nec Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nec Corporation filed Critical Nec Corporation
Priority to US12/746,407 priority Critical patent/US9123242B2/en
Priority to JP2009544684A priority patent/JP4973736B2/ja
Publication of WO2009072507A1 publication Critical patent/WO2009072507A1/ja

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/768—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using context analysis, e.g. recognition aided by known co-occurring patterns
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

【課題】掠れた路面標示や路面標示に類似した形状の陰影など、映像内の明暗や色情報からだけでは認識が困難なものが路上にある場合でも、正確に路面標示を認識する路面標示認識装置を提供する。 【解決手段】路面標示候補抽出手段１２が車載カメラに撮影された映像から路面標示に類似した特徴を有する画像領域を路面標示候補領域として抽出し、道路形状解析手段１１が車載カメラに撮影された映像から道路の形状を解析し、路面標示検証手段１４が、道路形状解析手段１１に解析された道路形状と路面標示候補抽出手段１２に抽出された路面標示候補領域とが道路形状－路面標示対応テーブルに示された対応関係にあるか否かを判定しその判定結果に基づいて当該路面標示候補領域を真の路面標示と認識する。
PCT/JP2008/071925 2007-12-05 2008-12-03 路面標示認識装置，路面標示認識方法及び路面標示認識プログラム WO2009072507A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/746,407 US9123242B2 (en) 2007-12-05 2008-12-03 Pavement marker recognition device, pavement marker recognition method and pavement marker recognition program
JP2009544684A JP4973736B2 (ja) 2007-12-05 2008-12-03 路面標示認識装置，路面標示認識方法及び路面標示認識プログラム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-314512 2007-12-05
JP2007314512 2007-12-05

Publications (1)

Publication Number Publication Date
WO2009072507A1 true WO2009072507A1 (ja) 2009-06-11

Family

ID=40717686

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/071925 WO2009072507A1 (ja) 2007-12-05 2008-12-03 路面標示認識装置，路面標示認識方法及び路面標示認識プログラム

Country Status (3)

Country Link
US (1) US9123242B2 (ja)
JP (1) JP4973736B2 (ja)
WO (1) WO2009072507A1 (ja)

Cited By (4)

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JP2011063131A (ja) * 2009-09-17 2011-03-31 Hitachi Automotive Systems Ltd 車両制御装置
JP2013531850A (ja) * 2010-06-15 2013-08-08 コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツング 自動車の交通標識認識システムと車線認識システムとを融合する方法
CN108419441A (zh) * 2016-03-14 2018-08-17 欧姆龙株式会社 路面形状测定装置、测定方法及程序
JP2020145592A (ja) * 2019-03-06 2020-09-10 パナソニックＩｐマネジメント株式会社 車両及びカメラモジュール

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US10301783B2 (en) 2012-01-17 2019-05-28 LimnTech LLC Roadway maintenance striping control system
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JP6376354B2 (ja) * 2013-03-29 2018-08-22 パナソニックＩｐマネジメント株式会社 駐車支援システム
JP6065107B2 (ja) * 2013-04-12 2017-01-25 トヨタ自動車株式会社 走行環境評価システム及び走行環境評価方法及び運転支援装置及び走行環境の表示装置
US9677897B2 (en) 2013-11-13 2017-06-13 Elwha Llc Dead reckoning system for vehicles
US9412028B2 (en) 2013-11-13 2016-08-09 Elwha Llc Wheel slip or spin notification
DE102013224171A1 (de) * 2013-11-26 2015-05-28 Robert Bosch Gmbh Verfahren und Steuer- und Erfassungseinrichtung zur Erkennung einer Einfahrt eines Kraftfahrzeugs in einen Fahrstreifen einer Straße entgegen einer Fahrrichtung
KR101551092B1 (ko) * 2014-05-15 2015-09-07 현대자동차주식회사 영상을 이용한 차량의 속도 제어 장치 및 그 방법
JP6822815B2 (ja) * 2016-10-17 2021-01-27 トヨタ自動車株式会社 道路標示認識装置
KR20210079946A (ko) * 2019-12-20 2021-06-30 주식회사 만도 차량 및 그 제어 방법
US20220317308A1 (en) * 2021-03-31 2022-10-06 Kymeta Corporation Automatic detection of motion profiles
CN113392764B (zh) * 2021-06-15 2023-08-08 北京字跳网络技术有限公司 视频的处理方法、装置、电子设备和存储介质
CN113538357B (zh) * 2021-07-09 2022-10-25 同济大学 一种抗阴影干扰的路面状态在线检测方法

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011063131A (ja) * 2009-09-17 2011-03-31 Hitachi Automotive Systems Ltd 車両制御装置
JP2013531850A (ja) * 2010-06-15 2013-08-08 コンティ テミック マイクロエレクトロニック ゲゼルシャフト ミット ベシュレンクテル ハフツング 自動車の交通標識認識システムと車線認識システムとを融合する方法
CN108419441A (zh) * 2016-03-14 2018-08-17 欧姆龙株式会社 路面形状测定装置、测定方法及程序
CN108419441B (zh) * 2016-03-14 2020-06-02 欧姆龙株式会社 路面形状测定装置、测定方法及计算机可读存储介质
JP2020145592A (ja) * 2019-03-06 2020-09-10 パナソニックＩｐマネジメント株式会社 車両及びカメラモジュール

Also Published As

Publication number Publication date
US9123242B2 (en) 2015-09-01
US20100259609A1 (en) 2010-10-14
JP4973736B2 (ja) 2012-07-11
JPWO2009072507A1 (ja) 2011-04-21

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