Patent ID: 8594380

Claim:
A lane marking detection apparatus, comprising: an original image acquirement part configured to acquire an original image that is obtained by taking an image of a traveling road from a traveling object traveling on said traveling road; a lane marking position detection part configured to detect a relative position of a lane marking included in said traveling road to said traveling object, based on said original image; and an examination part configured to transfer a near region of said original image obtained at time t 0 to a first transformed image in which said travelling road is viewed in a first direction that is different from an imaging direction of said original image, transfer near regions of past original images obtained before time t 0 to past transformed images in which said travelling road is viewed in said first direction, connect said first transformed image and said past transformed images in an order of time to generate a second image, and confirm whether or not a detection result of said lane marking position detection part is correct based on said second image.