ROAD SIGN DETECTION DEVICE, ROAD SIGN DETECTION METHOD, PROGRAM, AND ROAD SURFACE DETECTION DEVICE

摘要

PROBLEM TO BE SOLVED: To detect a road sign with favorable accuracy, on the basis of measured data of a reflection point group acquired by a laser scanner.;SOLUTION: Point group filtering means 24: calculates an index value indicating variation in laser reflection intensity of a reflection point group existing in a predetermined neighboring region at each reflection point on a road surface; determines a region giving uniform laser reflection intensity out of the road surface on the basis of the index value; and obtains a reflection intensity undulation point group from which the reflection point group in the region is removed. Point group clustering means 26 performs clustering regarding a distribution on the road surface with respect to the reflection intensity undulation point group to generate a point group cluster separated by every road sign, in accordance with necessary resolution regarding detection of the road sign. Road sign candidate point group extraction means 28 relating to the laser reflection intensity classifies the reflection point group belonging to the point group cluster by a threshold value determined by every point group cluster to extract the reflection point group having the laser reflection intensity equal to or more than the threshold value as a road sign candidate point group corresponding to one road sign.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2019,JPO&INPIT