公开(公告)号：US08170285B2

公开(公告)日：2012-05-01

申请号：US11995798

申请日：2006-07-06

申请人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

发明人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  G06T7/12 ,  G06T7/90 ,  G06T2207/10016 ,  G06T2207/30256

摘要： An image processing system and the like capable of recognizing a lane mark in a road image with high accuracy are provided even if a light illumination state on a road surface is partially different. According to the image processing system (100) mounted on a vehicle (10), a color component (Rij, Gij, Bij) of the first pixel (Pij) included in an area (Aij) set in the road image is corrected with reference to a color component (Rik, Gik, Bik) of a second pixel (Pik) in view of a fact that it is highly probable that the color component of the second pixel included in the area along with the first pixel is affected by a shadow or light on the road surface. This reduces the effect of the shadow or light on the road surface and the actual color of a road surface portion corresponding to the first pixel can be sufficiently reflected in the color components (Rij, Gij, Bij) of the first pixel (Pij) and consequently in a feature value (Qij). Therefore, a lane mark (M) and its edge (E) are recognized in the road image on the basis of the feature value (Qij) of each pixel (Pij) in the road image.

摘要翻译： 即使路面上的光照射状态部分不同，也能够提供能够高精度地识别道路图像中的车道标记的图像处理系统等。 根据安装在车辆（10）上的图像处理系统（100），包括在道路图像中设置的区域（Aij）中的第一像素（Pij）的颜色分量（Rij，Gij，Bij）被校正参考 考虑到与第一像素一起包括在该区域中的第二像素的颜色分量非常可能受到阴影影响的事实，第二像素（Pik）的颜色分量（Rik，Gik，Bik） 或在路面上点亮。 这样可以减小阴影或光线对路面的影响，并且可以将与第一像素对应的路面部分的实际颜色充分地反映在第一像素（Pij）的颜色分量（Rij，Gij，Bij）中，并且 因此在特征值（Qij）中。 因此，基于道路图像中的各像素（Pij）的特征量（Qij），在道路图像中识别车道标记（M）及其边缘（E）。

公开(公告)号：US20090080704A1

公开(公告)日：2009-03-26

申请号：US11919641

申请日：2006-06-20

申请人： Naoki Mori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori

发明人： Naoki Mori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  B60W30/12 ,  B60W2420/42 ,  G08G1/167

摘要： There is provided an image acquisition means (2) for acquiring a color image of a road via an imaging means (9) mounted on a vehicle (8), a lane mark detection means (3, 4) for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data, and a selection means (6) for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle (8) is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means (3, 4), and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data. Therefore, even if there are lane marks of different colors on the road, the lane marks of the respective colors can be recognized appropriately from the color image of the road acquired via the imaging means such as a camera.

摘要翻译： 提供了一种用于通过安装在车辆（8）上的成像装置（9）获取道路彩色图像的图像获取装置（2），用于执行检测车道标记的处理的车道标记检测装置（3,4） 基于彩色图像的颜色信息在道路上彼此不同的多个预定颜色的多个预定颜色，并将处理结果作为车道标记候选数据输出;以及选择装置（6），用于选择对应于 从车道标记检测装置（3,4）输出的各个预定颜色的至少车道标记候补数据中定义车辆（8）正在行进的实际车道的车道标记，并且确定并输出指示 基于所选择的车道标记候选数据的实际车道的信息。 因此，即使在道路上存在不同颜色的车道标记，也可以从通过诸如照相机的摄像装置获得的道路的彩色图像适当地识别各种颜色的车道标记。

公开(公告)号：US20090284597A1

公开(公告)日：2009-11-19

申请号：US11995798

申请日：2006-07-06

申请人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

发明人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

IPC分类号： G06K9/00 ,  H04N7/18

CPC分类号： G06K9/00798 ,  G06T7/12 ,  G06T7/90 ,  G06T2207/10016 ,  G06T2207/30256

摘要： An image processing system and the like capable of recognizing a lane mark in a road image with high accuracy are provided even if a light illumination state on a road surface is partially different. According to the image processing system (100) mounted on a vehicle (10), a color component (Rij, Gij, Bij) of the first pixel (Pij) included in an area (Aij) set in the road image is corrected with reference to a color component (Rik, Gik, Bik) of a second pixel (Pik) in view of a fact that it is highly probable that the color component of the second pixel included in the area along with the first pixel is affected by a shadow or light on the road surface. This reduces the effect of the shadow or light on the road surface and the actual color of a road surface portion corresponding to the first pixel can be sufficiently reflected in the color components (Rij, Gij, Bij) of the first pixel (Pij) and consequently in a feature value (Qij). Therefore, a lane mark (M) and its edge (E) are recognized in the road image on the basis of the feature value (Qij) of each pixel (Pij) in the road image.

摘要翻译： 即使路面上的光照射状态部分不同，也能够提供能够高精度地识别道路图像中的车道标记的图像处理系统等。 根据安装在车辆（10）上的图像处理系统（100），包括在道路图像中设置的区域（Aij）中的第一像素（Pij）的颜色分量（Rij，Gij，Bij）被校正参考 考虑到与第一像素一起包括在该区域中的第二像素的颜色分量非常可能受到阴影影响的事实，第二像素（Pik）的颜色分量（Rik，Gik，Bik） 或在路面上点亮。 这样可以减小阴影或光线对路面的影响，并且可以将与第一像素对应的路面部分的实际颜色充分地反映在第一像素（Pij）的颜色分量（Rij，Gij，Bij）中，并且 因此在特征值（Qij）中。 因此，基于道路图像中的各像素（Pij）的特征量（Qij），在道路图像中识别车道标记（M）及其边缘（E）。

公开(公告)号：US20080310679A1

公开(公告)日：2008-12-18

申请号：US11918453

申请日：2006-04-16

申请人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

发明人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  G08G1/16 ,  G08G1/167

摘要： A vehicle capable of preventing detection of stud-type lane marks from being impossible and a vehicle having a lane mark recognizer are provided. The vehicle includes installation interval recognizing means (21) which recognizes an interval (L) between Botts Dots, vehicle speed recognizing means (22) which recognizes a traveling speed (v) of the vehicle, image synthesizing means (13) which generates synthesized image data (M3) by combining image data (M1) stored in an image memory (11) through an image input circuit (10) and image data (M2) stored in an image memory (12) through the same, imaging timing determining means (20) which determines the timing of imaging by a camera (2) on the basis of the interval (L) and the traveling speed (v) when acquiring the image data (M1, M2) in such a way that the positions of the Botts Dots in the image data (M1, M2) are different therebetween, and Botts Dots detecting means (14) which detects the Botts Dots from the synthesized image data (M3).

摘要翻译： 提供能够防止螺柱式车道标记的检测不可能的车辆和具有车道标识识别器的车辆。 车辆包括识别出点数之间的间隔（L）的安装间隔识别装置（21），识别车辆的行驶速度（v）的车速识别装置（22），产生合成图像的图像合成装置 数据（M3）通过组合通过图像输入电路（10）存储在图像存储器（11）中的图像数据（M1）和通过其存储在图像存储器（12）中的图像数据（M2），成像定时确定装置 20），其基于当获取图像数据（M1，M2）时的间隔（L）和行进速度（v），以相对于所述图像数据（B）的位置的方式确定摄像机（2）的成像定时 图像数据（M1，M2）中的点不同，以及从合成图像数据（M3）检测Botts点的Botts点检测装置（14）。

公开(公告)号：US08144926B2

公开(公告)日：2012-03-27

申请号：US11919641

申请日：2006-06-20

申请人： Naoki Mori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori

发明人： Naoki Mori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  B60W30/12 ,  B60W2420/42 ,  G08G1/167

摘要： There is provided an image acquisition means (2) for acquiring a color image of a road via an imaging means (9) mounted on a vehicle (8), a lane mark detection means (3, 4) for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data, and a selection means (6) for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle (8) is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means (3, 4), and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data. Therefore, even if there are lane marks of different colors on the road, the lane marks of the respective colors can be recognized appropriately from the color image of the road acquired via the imaging means such as a camera.

摘要翻译： 提供了一种用于通过安装在车辆（8）上的成像装置（9）获取道路彩色图像的图像获取装置（2），用于执行检测车道标记的处理的车道标记检测装置（3,4） 基于彩色图像的颜色信息在道路上彼此不同的多个预定颜色的多个预定颜色，并将处理结果作为车道标记候选数据输出;以及选择装置（6），用于选择对应于 从车道标记检测装置（3,4）输出的各个预定颜色的至少车道标记候补数据中定义车辆（8）正在行进的实际车道的车道标记，并且确定并输出指示 基于所选择的车道标记候选数据的实际车道的信息。 因此，即使在道路上存在不同颜色的车道标记，也可以从通过诸如照相机的摄像装置获得的道路的彩色图像适当地识别各种颜色的车道标记。

公开(公告)号：US08036427B2

公开(公告)日：2011-10-11

申请号：US11919657

申请日：2006-05-18

申请人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

发明人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

IPC分类号： G06K9/00

CPC分类号： G06K9/4652 ,  G06K9/00798

摘要： The present invention includes: image capturing means (2) which captures a color image of a road via imaging means (7); area extraction means (3) which extracts areas having a similar color feature value from the captured color image of the road; white balance processing means (5) which performs, for each of the extracted areas, a white balance process of correcting each pixel data in the extracted area so as to reduce the degree of divergence in the level between color components according to a level balance between the color components of the pixel data in the extracted area; and road sign detection means (6) which detects a road sign on the road from the color image subjected to the white balance process. Thus, even if the road illumination state is partially different, it is possible to accurately detect a road sign such as a lane mark from the captured color image of the road via the imaging means such as a camera.

摘要翻译： 本发明包括：通过成像装置（7）捕捉道路的彩色图像的图像捕获装置（2）。 区域提取装置（3），其从所捕获的道路彩色图像中提取具有相似颜色特征值的区域; 白平衡处理装置（5）对于每个提取区域执行校正所提取的区域中的每个像素数据的白平衡处理，以便根据色彩分量之间的水平平衡来降低色彩分量之间的差异程度 提取区域中的像素数据的颜色分量; 以及从经过白平衡处理的彩色图像检测道路上的道路标志的道路标志检测单元（6）。 因此，即使道路照明状态是部分不同的，也可以通过诸如照相机的摄像装置从所拍摄的道路彩色图像中准确地检测诸如车道线的路标。

公开(公告)号：US08135175B2

公开(公告)日：2012-03-13

申请号：US11918674

申请日：2006-05-22

申请人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

发明人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/3241 ,  G06K9/00798 ,  G06T7/73

摘要： An image processing system and the like capable of accurately recognizing lane edges defined by dotted lane marks are provided. According to an image processing system (100) of the present invention, a first processing unit (110) searches a road surface image captured by a vehicle-mounted camera for a “small area,” which is composed of high- or low-luminance pixels and satisfies “eligibility conditions” on the “size,” “shape,” and “arrangement” in the road surface image. Additionally, a second processing unit (120) recognizes “lane edges” of the lane along which the vehicle travels on the basis of the “small area.” Furthermore, a third processing unit (130) sets a “search range” of the small area searched by the first processing unit (110) on the basis of a result of the foregoing recognition of the lane edges by the second processing unit (120).

摘要翻译： 提供能够准确地识别由虚线标记定义的车道边缘的图像处理系统等。 根据本发明的图像处理系统（100），第一处理单元（110）搜索由车载摄像机拍摄的路面图像的“小区域”，其由高亮度或低亮度 并且满足路面图像中的“尺寸”，“形状”和“布置”的“合格条件”。 此外，第二处理单元（120）基于“小区域”识别车辆行驶的车道的“车道边缘”。此外，第三处理单元（130）设置小的“搜索范围” 基于上述由第二处理单元（120）识别车道边缘的结果，由第一处理单元（110）搜索的区域。

公开(公告)号：US07965870B2

公开(公告)日：2011-06-21

申请号：US11994940

申请日：2006-06-23

申请人： Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori ,  Naoki Mori

发明人： Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori ,  Naoki Mori

IPC分类号： G06K9/00 ,  G06K9/46 ,  G06K9/66 ,  G05D1/00 ,  G01C22/00 ,  G06G7/76 ,  G08G1/00 ,  H04N7/18

CPC分类号： G08G1/167 ,  G06K9/00798 ,  G06K9/38 ,  G06T7/11 ,  G06T7/90 ,  G06T2207/10016 ,  G06T2207/30256

摘要： A lane mark recognition apparatus includes an image capturing means (30) which captures a color image (IM—0) of a road via a color video camera (10), a specific-color-extracted image generating means (31) which generates a luminance-extracted image (IM—1) obtained by extracting white-color data from the color image (IM—0) and a yellow-color-extracted image (IM—2) obtained by extracting yellow-color data from the color image (IM—0), and a lane mark detection means (50a) which detects a white line and a yellow line from a composite image (IM_C) formed from the luminance-extracted image (IM—1) and the yellow-color-extracted image (IM—2) and outputs position data (Pd1) of the white line and position data (Pd2) of the yellow line.

摘要翻译： 车道标识识别装置包括经由彩色摄像机（10）拍摄道路的彩色图像（IM-0）的图像拍摄装置（30），特定彩色提取图像生成装置（31），其生成 通过从彩色图像（IM-0）中提取白色数据而获得的亮度提取图像（IM-1）和通过从彩色图像中提取黄色数据而获得的黄色提取图像（IM-2） IM-0）和从由亮度提取图像（IM-1）和黄色提取图像形成的合成图像（IM_C）中检测白线和黄线的车道线检测装置（50a） （IM-2），并输出白线的位置数据（Pd1）和黄线的位置数据（Pd2）。

公开(公告)号：US20100074469A1

公开(公告)日：2010-03-25

申请号：US11919657

申请日：2006-05-18

申请人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

发明人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

IPC分类号： G06K9/00

CPC分类号： G06K9/4652 ,  G06K9/00798

摘要： The present invention includes: image capturing means (2) which captures a color image of a road via imaging means (7); area extraction means (6) which extracts areas having a similar color feature value from the captured color image of the road; white balance processing means (5) which performs, for each of the extracted areas, a white balance process of correcting each pixel data in the extracted area so as to reduce the degree of divergence in the level between color components according to a level balance between the color components of the pixel data in the extracted area; and road sign detection means (6) which detects a road sign on the road from the color image subjected to the white balance process. Thus, even if the road illumination state is partially different, it is possible to accurately detect a road sign such as a lane mark from the captured color image of the road via the imaging means such as a camera.

摘要翻译： 本发明包括：通过成像装置（7）捕捉道路的彩色图像的图像捕获装置（2）。 区域提取装置（6），其从所捕获的道路彩色图像中提取具有相似颜色特征值的区域; 白平衡处理装置（5）对于每个提取区域执行校正所提取的区域中的每个像素数据的白平衡处理，以便根据色彩分量之间的水平平衡来降低色彩分量之间的差异程度 提取区域中的像素数据的颜色分量; 以及从经过白平衡处理的彩色图像检测道路上的道路标志的道路标志检测单元（6）。 因此，即使道路照明状态是部分不同的，也可以通过诸如照相机的摄像装置从所拍摄的道路彩色图像中准确地检测诸如车道线的路标。

公开(公告)号：US20080317288A1

公开(公告)日：2008-12-25

申请号：US11918344

申请日：2006-03-28

申请人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

发明人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/4604 ,  G06K9/00798 ,  G06T7/12 ,  G06T2207/10016 ,  G06T2207/30256

摘要： An image processing system and the like capable of improving recognition accuracy of a lane mark are provided. According to the image processing system of the present invention, a first processing unit (110) recognizes a lane mark candidate on the basis of the luminance of each pixel in a road image. Moreover, there are evaluated a first index which represents continuity of an edge of the lane mark candidate, a second index which represents conformance between the width of the lane mark candidate and a lane mark standard width, and a third index which represents uniformity of the luminance of pixels contained in the lane mark candidate. According to the first, second, and third indices, a second processing unit (120) recognizes a lane mark candidate most likely to be a true lane mark as a lane mark.

摘要翻译： 提供能够提高车道标识的识别精度的图像处理系统等。 根据本发明的图像处理系统，第一处理单元（110）基于道路图像中的每个像素的亮度来识别车道标记候选。 此外，评估表示车道标记候选的边缘的连续性的第一索引，表示车道标记候选的宽度和车道标记标准宽度之间的一致性的第二索引，以及表示车道标记候选的均匀性的第三索引 包含在车道标记候选中的像素的亮度。 根据第一，第二和第三索引，第二处理单元（120）识别最可能是真实车道标记的车道标记候选作为车道标记。