US 11,861,841 B2
Lane estimation device, method, and program
Kohei Mori, Musashino (JP); Ippei Shake, Musashino (JP); Yuki Yokohata, Musashino (JP); and Manabu Yoshida, Musashino (JP)
Assigned to NIPPON TELEGRAPH AND TELEPHONE CORPORATION, Tokyo (JP)
Appl. No. 17/255,838
Filed by NIPPON TELEGRAPH AND TELEPHONE CORPORATION, Tokyo (JP)
PCT Filed Jun. 20, 2019, PCT No. PCT/JP2019/024570
§ 371(c)(1), (2) Date Dec. 23, 2020,
PCT Pub. No. WO2020/004231, PCT Pub. Date Jan. 2, 2020.
Claims priority of application No. 2018-121714 (JP), filed on Jun. 27, 2018.
Prior Publication US 2021/0279484 A1, Sep. 9, 2021
Int. Cl. G06K 9/00 (2022.01); G06T 7/11 (2017.01); B60W 30/12 (2020.01); B60W 30/18 (2012.01); B60W 40/06 (2012.01); G06V 20/56 (2022.01); G06V 10/44 (2022.01); G06V 10/20 (2022.01)
CPC G06T 7/11 (2017.01) [B60W 30/12 (2013.01); B60W 30/18163 (2013.01); B60W 40/06 (2013.01); G06V 10/255 (2022.01); G06V 10/44 (2022.01); G06V 20/588 (2022.01); B60W 2552/10 (2020.02); B60W 2552/53 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A lane estimation device comprising a processor and a memory connected to the processor, the processor configured to:
acquire image data obtained by imaging a range including a road region in which a moving object is moving, and store the acquired image data in the memory;
read out the image data stored in the memory, recognize a shape indicating the road region from the image data, and calculate or estimate, based on the recognized shape indicating the road region, an inclination angle of a contour line thereof as a feature value of the road region; and
estimate a lane in which the moving object is moving by determining which threshold value range preset for each lane the calculated inclination angle of the contour line is included in.