White line recognition device, mobile object control system, and white line recognition method
A white line recognition device includes a storage medium storing computer-readable instructions and a processor connected to the storage medium, the processor executing the computer-readable instructions to recognize a linear feature located in an image captured by a monocular camera as a contour of a white line drawn on a road surface, and detect a linear object located at a distance from the road surface based on an output of a distance measurement sensor provided to have at least a detection range in the same direction as the monocular camera. Recognizing the linear feature includes preventing the linear feature from being recognized as the contour of the white line.
1 . A white line recognition device comprising:
a storage medium storing computer-readable instructions; and
a processor connected to the storage medium, the processor executing the computer-readable instructions to:
recognize a linear feature located in an image captured by a monocular camera as a contour candidate of a white line drawn on a road surface,
detect a three-dimensional linear object positioned at a boundary between a sidewalk and a roadway and located at a distance from the road surface based on an output of a distance measurement sensor provided to have at least a detection range in the same direction as the monocular camera,
derive a linear area by projecting a position of the three-dimensional linear object onto an image plane of the image,
recognize a contour of the white line by excluding a linear feature matching the linear area from the contour candidate off the white line, and
control a mobile object to travel between the roadway and the side walk via the boundary based on the contour of the white line.
2 . The white line recognition device according to claim 1 ,
wherein an output of the distance measurement sensor is information for enabling a color to be recognized, and
wherein the processor recognizes the contour of the white line by excluding a linear feature matching the linear area based on the three-dimensional linear object of a white color from the contour candidate of the white line.
3 . A white line recognition method executed using a white line recognition device, the white line recognition method comprising:
recognizing a linear feature located in an image captured by a monocular camera as a contour candidate of a white line drawn on a road surface;
detecting a three-dimensional linear object positioned at a boundary between a sidewalk and a roadway and located at a distance from the road surface based on an output of a distance measurement sensor provided to have at least a detection range in the same direction as the monocular camera;
deriving a linear area by projecting a position of the three-dimensional linear object onto an image plane of the image;
recognizing a contour of the white line by excluding a linear feature matching the linear area from the contour candidate of the white line; and
controlling a mobile object to travel between the roadway and the sidewalk via the boundary based on the contour of the white line.
4 . A white line recognition device comprising:
a storage medium storing computer-readable instructions; and
a processor connected to the storage medium, the processor executing the computer-readable instructions to:
recognize a linear feature located in an image captured by a monocular camera as a contour candidate of a white line drawn on a road surface,
detect a three-dimensional linear object positioned at a boundary between a sidewalk and a roadway and located at a distance from the road surface based on an output of a distance measurement sensor provided to have at least a detection range in the same direction as the monocular camera,
inversely projecting a position of the linear feature in a space area,
search for the three-dimensional linear object in the space area, when there is the three-dimensional linear object in the space area, recognize a contour of the white line by excluding the linear feature from the contour candidate of the white line, and
control a mobile object to travel between the roadway and the sidewalk via the boundary based on the contour of the white line.