Road boundary detection device, road boundary detection method, and road boundary detection program

A road boundary detection device that acquires a set of lines corresponding to a road boundary from point cloud data as road boundary information, the road boundary detection device comprising:

• a point cloud density reduction unit configured to down-sample the point cloud data to reduce density;
• a candidate point detection unit configured to detect each point of road boundary candidates corresponding to candidates of a road boundary from the reduced point cloud data;
• a candidate point clustering unit configured to cluster each point of the road boundary candidates;
• an adjacent cluster reduction unit configured to reduce a cluster from a distribution of points in clusters in an adjacency relationship by using a predetermined cluster reduction method;
• a line fitting unit configured to fit one or more straight lines or curved lines to one or more of the clusters and output fitted lines as road boundary candidates;
• a line connecting unit configured to connect some of the fitted lines by using a predetermined analysis method;
• and
• an information output unit configured to output a calculated line as the road boundary information.

A road boundary detection method for acquiring, by a computer, a set of lines corresponding to a road boundary from point cloud data as road boundary information, the road boundary detection method causing the computer to execute processing of:

• detecting each point of road boundary candidates corresponding to candidates of a road boundary from the point cloud data;
• clustering each point of the road boundary candidates;
• reducing a cluster from a distribution of points in clusters in an adjacency relationship by using a predetermined cluster reduction method;
• fitting one or more straight lines or curved lines to one or more of the clusters and outputting fitted lines;
• connecting some of the fitted lines;
• and
• outputting a calculated line as the road boundary information.

A road boundary detection program for acquiring a set of lines corresponding to a road boundary from point cloud data as road boundary information, the road boundary detection program causing a computer to execute processing of:

• detecting each point of road boundary candidates corresponding to candidates of a road boundary from the point cloud data;
• clustering each point of the road boundary candidates;
• reducing a cluster from a distribution of points in clusters in an adjacency relationship by using a predetermined cluster reduction method;
• fitting one or more straight lines or curved lines to one or more of the clusters and outputting fitted lines;
• connecting some of the fitted lines;
• and
• outputting a calculated line as the road boundary information.