Road marking road marking detection device and detection method

摘要

PROBLEM TO BE SOLVED: To provide a road surface sign detection apparatus and a road surface sign detection method, which measure the length of a line segment highly accurately even in the case of a stop line being discontinuous and detect the stop line with better accuracy on the basis of the aforementioned length.SOLUTION: An apparatus performs: picking up surroundings of a mobile body including ahead thereof; generating a view-point conversion image by view-point-converting the pickup image; extracting a feature edge from the view-point conversion image; extracting plural line components in which feature edges are continuous linearly; combining together a set of line components whose positions and inclinations are within respective given ranges, the line components of the plural line components; and detecting a stop line on the basis of the length of the combined line component.SELECTED DRAWING: Figure 2