Patent ID: 8520071
Filing Date: 2013-08-27
Classification: G06K

Abstract:
1. A boundary line detection system for detecting boundary lines according to an image of a road surface in front of a vehicle, the boundary line detection system comprising: an image pickup unit that picks up the image of the road surface; an edge-point extracting unit that extracts a plurality of edge points from the image of the road surface picked-up by the image pickup unit; a noise determining unit that: determines whether at least a predetermined number of edge points in the plurality of edge points are aligned in a direction corresponding to a vertical direction from the road surface, the at least predetermined number of edge points having intervals therebetween equal to or smaller than a preset interval; and when it is determined that the at least predetermined number of edge points are aligned in the direction corresponding to the vertical direction from the road surface with the intervals of the at least predetermined number of edge points being equal to or smaller than the preset interval, determines that the predetermined number of edge points as noises; and a detecting unit that detects the boundary lines based on a remainder of the plurality of edge points from which the at least predetermined number of edge points as the noises have been extracted, wherein: the boundary lines include a plurality of pointed markers arranged at intervals on the road surface along a lane on the road surface; the edge-point extracting unit is configured to extract the plurality of edge points on a plurality of lines on the image of the road surface, the plurality of lines corresponding to a horizontal direction of the road surface; and the plurality of lines are determined such that actual distances between positions respectively corresponding to the plurality of lines on the road surface are equal to each other.