Image processing device and image processing method

Patent metadata

Field	Value
Publication number	US-11100342-B2
Application number	US-201916574422-A
Country	US
Kind code	B2
Filing date	Sep 18, 2019
Priority date	Dec 14, 2018
Publication date	Aug 24, 2021
Grant date	Aug 24, 2021

Abstract

An image processing device includes: a calculation unit which calculates chroma values of pixels of image data taken by a shooting device based on differences between R values or G values and B values, respectively; a correction unit which corrects luminance values of pixels that satisfy a prescribed condition for being a yellow pixel using the calculated chroma values as emphasis amounts, respectively; and a detection unit which detects a line drawn on a road surface based on the corrected luminance values.

First claim

What is claimed is:

1. An image processing device comprising:
a calculation unit which calculates chroma values of pixels of image data taken by a shooting device based on differences between R values or G values and B values, respectively;
a correction unit which corrects luminance values of pixels that satisfy a prescribed condition for being a yellow pixel using the calculated chroma values as emphasis amounts, respectively; and
a detection unit which detects a line drawn on a road surface based on the corrected luminance values, wherein:
the calculation unit calculates, as the chroma values, differences between the R values and the B values, respectively; and
the correction unit corrects luminance values of pixels each of which satisfies
(A) a difference between the R value and the G value is smaller than or equal to a first prescribed value;
(B) a difference between the R value and the B value is larger than or equal to a second prescribed value;
(C) a difference between the G value and the B value is larger than or equal to a third prescribed value; and
(D) the R value or the G value is larger than or equal to a fourth prescribed value.

2. The image processing device according to claim 1 , further comprising a conversion unit which normalizes luminance values of the pixels of the image data using the corrected luminance values,
wherein the detection unit detects the line based on the normalized luminance values.

3. The image processing device according to claim 1 , wherein the correction unit corrects the luminance values of the pixels that satisfy the prescribed condition for being a yellow pixel using, as an upper limit, a maximum emphasis amount that is set in advance based on actual image data.

4. The image processing device according to claim 2 , wherein the correction unit corrects the luminance values of the pixels that satisfy the prescribed condition for being a yellow pixel using, as an upper limit, a maximum emphasis amount that is set in advance based on actual image data.

5. The image processing device according to claim 2 , wherein the conversion unit performs normalization by compressing the luminance values of the pixels of the image data and the emphasis amounts at different compression ratios.

6. The image processing device according to claim 4 , wherein the conversion unit performs normalization by compressing the luminance values of the pixels of the image data and the emphasis amounts at different compression ratios.

7. The image processing device according to claim 5 , wherein, in the conversion unit, a compression ratio of the emphasis amounts is set higher, in a degree of compression, than a compression ratio of the luminance values of the pixels of the image data.

8. The image processing device according to claim 6 , wherein, in the conversion unit, a compression ratio of the emphasis amounts is set higher, in a degree of compression, than a compression ratio of the luminance values of the pixels of the image data.

9. The image processing device according to claim 1 , wherein the calculation unit calculates the chroma values of only the pixels that satisfy the prescribed condition for being a yellow pixel.

10. The image processing device according to claim 2 , wherein the calculation unit calculates the chroma values of only the pixels that satisfy the prescribed condition for being a yellow pixel.

11. The image processing device according to claim 3 , wherein the calculation unit calculates the chroma values of only the pixels that satisfy the prescribed condition for being a yellow pixel.

12. The image processing device according to claim 4 , wherein the calculation unit calculates the chroma values of only the pixels that satisfy the prescribed condition for being a yellow pixel.

13. The image processing device according to claim 5 , wherein the calculation unit calculates the chroma values of only the pixels that satisfy the prescribed condition for being a yellow pixel.

14. The image processing device according to claim 6 , wherein the calculation unit calculates the chroma values of only the pixels that satisfy the prescribed condition for being a yellow pixel.

15. An image processing method comprising:
calculating chroma values of pixels of image data taken by a shooting device based on differences between R values or G values and B values, respectively;
correcting luminance values of pixels that satisfy a prescribed condition for being a yellow pixel using the calculated chroma values as emphasis amounts, respectively; and
detecting a line drawn on a road surface based on the corrected luminance values, wherein:
the calculating calculates, as the chroma values, differences between the R values and the B values, respectively; and
the correcting corrects luminance values of pixels each of which satisfies
(A) a difference between the R value and the G value is smaller than or equal to a first prescribed value;
(B) a difference between the R value and the B value is larger than or equal to a second prescribed value;
(C) a difference between the G value and the B value is larger than or equal to a third prescribed value; and
(D) the R value or the G value is larger than or equal to a fourth prescribed value.

Assignees

• Denso Ten Ltd

Inventors

• Okada Yasutaka
• Sano Hiroaki
• Yamamoto Tetsuo
• Yoshihara Atsushi
• Kanetake Jun
• Yoshimura Ryo
• Shidori Tomoki

Classifications

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G06V10/56

  relating to colour · CPC title

• G06V20/586

  of parking space · CPC title

• G06T2207/30256

  Lane; Road marking · CPC title

• G06T7/73

  using feature-based methods · CPC title