Patent ID: 8520954
Filing Date: 2013-08-27
Classification: G06K

Abstract:
1. A detection apparatus mounted on a vehicle adapted to detect a lane-marking on a road based on a road-surface image taken from a road surface in front of the vehicle, comprising: an acquiring unit for periodically acquiring the road-surface image and each acquired road-surface image being framed into a single frame; an extracting unit for extracting an edge point from the frame framed by the acquiring unit; a lane detecting unit for detecting the lane-marking based on the edge point extracted by the extracting unit, and a first determining unit for determining whether or not the number of edge points located on the lane-marking detected by the lane detecting unit is smaller than a predetermined threshold value, wherein the lane detecting unit is configured to detect the lane-marking based on a plurality of edge points combined from among the edge points extracted subsequently from the road-surface images in a plurality of frames subsequently framed by the acquiring unit, when the first determining unit determines that the number of edge points is smaller than the predetermined threshold value.