Road marking measurement system, white line model measurement system and the white line model measuring device

摘要

PPROBLEM TO BE SOLVED: To acquire a more precise white line position even for a non-flat road. PSOLUTION: The position posture of the measuring truck 102 is measured by a gyro 210 and a GPS 220 mounted on the measuring truck 102. A camera 230 outputs photographed image data, and a laser radar 240 calculates orientation and distance data toward a road surface from the camera 230. A road surface shape model generation section 150 generates a road surface shape model, based on the position posture and the orientation and distance data of the laser radar 240. A camera LOS calculation section 140 calculates a depth angle to a white line viewed from the camera 230, based on the position posture of the camera 230 and the recognition result of the white line being recognized on the image. A road surface model corresponding point search section 170 measures the position of the white line, based on the depth angle of the white line and the road surface shape model, and can improve the precision of the measurement result by measuring the position of the white line while considering the shape of the road surface. PCOPYRIGHT: (C)2007,JPO&INPIT