Picture image processor, method for processing picture image and method for processing picture image

A method for processing a picture image, comprising;

• detecting a lateral boundary line candidate and a paint-blank boundary line candidate of a lane mark from picture image information acquired;
• verifying whether said lateral boundary line candidate and said paint-blank boundary line candidate detected represent a lateral boundary line and a paint-blank boundary line of said lane mark, respectively;
• memorizing verification information, as hysteresis information including said lateral boundary line candidate and said paint-blank boundary line candidate, at a time at which said lateral boundary line candidate and said paint-blank boundary line candidate have been verified to be the lateral boundary line and the paint-blank boundary line of said lane mark, respectively;
• also memorizing car speed information correlated with said hysteresis information;
• estimating, using said hysteresis information and said car speed information, positions of the lateral boundary line and the paint-blank boundary line in a next frame corresponding to picture image information which would be acquired next to current picture image information;
• memorizing the estimation information including the positions in the next frame of the lateral boundary line and the paint-blank boundary line estimated;
• and
• executing verification using the estimation information memorized at a time point of said verification in verifying whether or not the lateral boundary line candidate and said point-blank boundary line candidate represent the lateral boundary line and the paint-blank boundary line of said lane mark, respectively.

A program for processing a picture image;

• said program allowing a computer to execute:
• processing of detecting a lateral boundary line candidate and a paint-blank boundary line candidate of a lane mark from picture image information acquired;
• processing of verifying whether or not said lateral boundary line candidate and said paint-blank boundary line candidate detected represent a lateral boundary line and a paint-blank boundary line of said lane mark, respectively;
• processing of memorizing verification information, as hysteresis information;
• said verification information including said lateral boundary line candidate and said paint-blank boundary line candidate at a time at which said lateral boundary line candidate and said paint-blank boundary line candidate have been verified to be a lateral boundary line and a paint-blank boundary line of said lane mark, respectively;
• and also memorizing car speed information correlated with said hysteresis information;
• processing of estimating, using said hysteresis information and said car speed information, positions of the lateral boundary line and the paint-blank boundary line in a next frame corresponding to picture image information which would be acquired next to a current picture image information;
• and
• processing of memorizing the estimation information including positions of the lateral boundary line and the paint-blank boundary line of the next frame estimated;
• wherein,
• in verifying whether or not said lateral boundary line candidate and said paint-blank boundary line candidate detected represent a lateral boundary line and a paint-blank boundary line of said lane mark, respectively, the estimation information memorized at a time point of said verifying is used for executing the verification.