公开(公告)号：KR101305388B1

公开(公告)日：2013-09-06

申请号：KR1020120041392

申请日：2012-04-20

Applicant: 한국과학기술연구원

Inventor： 강성철 ,  전창묵 ,  차연화 ,  서승범

IPC: B60W30/12 ,  B60W40/02

Abstract: PURPOSE: A road lane recognition apparatus and a method thereof are provided to have an effect to be able to remove the distortion of the lane and to stably extract the lane information by converting a perspective image obtained through a camera into an aerial view image. CONSTITUTION: A road lane recognition apparatus (100) is a road lane recognition apparatus using a camera. The road lane recognition apparatus comprises an image conversion part (110) converting a perspective image input by a camera into an aerial view image by using the warp perspective mapping (WPM) conversion; and a road lane part extraction part (120) extracting a white area and a yellow area in the aerial view image by using the information of color and lane width, and extracting a road lane area by applying a horizontal distance-based sampling algorithm to the extracted white area and the yellow area. A road lane recognition method comprises a step of converting a perspective image input by a camera into an aerial view image by using the WPM conversion; and a step of extracting a white area and a yellow area in the aerial view image by using the information of color and lane width, and extracting a road lane area by applying a horizontal distance-based sampling algorithm to the extracted white area and the yellow area. [Reference numerals] (110) Image conversion part; (120) Road lane part extraction part; (130) Road lane modeling part; (140) Filtering part

Abstract translation: 目的：提供道路车道识别装置及其方法，以具有能够消除车道失真的效果，并且通过将通过照相机获得的透视图转换为鸟瞰图来稳定地提取车道信息。 构成：道路车道识别装置（100）是使用摄像机的道路车道识别装置。 道路车道识别装置包括通过使用经线透视映射（WPM）转换将由照相机输入的透视图像转换成鸟瞰图的图像转换部分（110） 以及道路车道部分提取部（120），通过使用颜色和车道宽度的信息提取鸟瞰图中的白色区域和黄色区域，并且通过对所述道路车道部分提取部分施加基于水平距离的采样算法来提取道路车道区域 提取白色区域和黄色区域。 道路识别方法包括通过使用WPM转换将由照相机输入的透视图像转换为鸟瞰图图像的步骤; 以及通过使用颜色和车道宽度的信息来提取鸟瞰图中的白色区域和黄色区域的步骤，以及通过对提取的白色区域应用基于水平距离的采样算法来提取道路车道区域，并且黄色 区。 （附图标记）（110）图像转换部; （120）道路车道部分提取部分; （130）道路车道建模部分; （140）过滤部件