Intersection road boundary detecting apparatus and program

摘要

PROBLEM TO BE SOLVED: To accurately detect a road boundary at an intersection.SOLUTION: A point group acquisition unit 26 acquires three dimensional points at an intersection, on the basis of stereo images acquired by an imaging device 12 when a vehicle travels through the intersection, and positioning information. A line segment detection unit 28 detects line segments respectively, from the three dimensional points acquired along different travelling directions of one and the same intersection. A line segment pair selection unit 32 selects multiple line segment pairs, each composed of two line segments, from the detected line segments. A hyperbola parameter calculation unit 36 calculates, for each line segment pair, parameters of one branch of a hyperbola, of which asymptotes are the two line segments of the line segment pair. An optimization unit 38 detects, as a road boundary of the intersection, one branch of a hyperbola fitting the three dimensional points best, among branches of hyperbolas calculated for the respective line segment pairs.