even if it is in the street what recognition is difficult to recognize the road sign recognition the road marking exactly such as shades of shape similar to road marking and road marking [challenge] was blurred, just from the color information and the bright and dark areas within the I will provide a device. The extracted as road markings candidate area image region having characteristics similar to the road marking from the image captured in the in-vehicle camera [SOLUTION] road marking candidate extraction unit 12, a road shape analysis unit 11 is taken to the vehicle-mounted camera analyzing the shape of the road from the video, and road marking candidate regions extracted in the road marking candidate extraction means 12 and the road shape is road marking verification means 14, were analyzed in road shape analysis unit 11 road shape - road marking corresponding is recognized as a true road marking the road marking candidate area based on the determination result to determine whether or not a correspondence relationship shown in the table. [Selection] Figure Figure 1
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