Patent Document ID: 20090268026
Application ID: 12406650
Patent Status: 0

Claim One:
1. A lane marker recognizing apparatus equipped with an image acquiring means for acquiring road image via an imaging means mounted on a vehicle, which recognizes stud-type lane markers discretely provided on the road from the acquired road image, comprising: a candidate region extracting means for extracting a region having the possibility of being an image portion of the lane marker, from the road image, as a lane marker candidate region; a real space representative point calculating means for determining a representative point of the lane marker candidate region in accordance with a predetermined condition, and calculating a real space position corresponding to the representative point as a real space representative point; a grouping means for forming, in the case where a plurality of the real space representative points is calculated, one group of a plurality of the real space representative points having a relative distance within a predetermined range set according to standards on the lane marker; and a lane marker position recognizing means for recognizing the position of the lane marker on the basis of a plurality of the real space representative points formed into one group by the grouping means.