Map generation device, map generation method, and map generation ocmputer program

Abstract

A map generation device extracts, by inputting an image in which a road is represented to a classifier that outputs, for each pixel of the image, a type of a feature object on the road represented by the pixel, a pixel representing a boundary feature object that represents a boundary of a lane among feature objects on the road, calculates a Voronoi boundary by Voronoi-dividing the image with each pixel representing the boundary feature object as a generating point, detects each of the calculated Voronoi boundaries as one lane, and generates map information representing each of the detected lanes.

What is claimed is: 
     
         1 . - 4 . (canceled) 
     
     
         5 . A map generation device comprising:
 a processor configured to:
 detect a plurality of vehicles located on a road from an image in which the road is represented; 
 detect each line in which two or more of the plurality of detected vehicles are aligned as an individual lane; and 
 generate map information representing each of the detected lanes. 
   
     
     
         6 . The map generation device according to  claim 5 , wherein the processor detects the road from the image, and detects, as the lane, a line in which two or more of the plurality of detected vehicles are aligned along the road. 
     
     
         7 . - 8 . (canceled) 
     
     
         9 . A map generation device comprising:
 a processor configured to:
 extract a road and a stop line from an image in which the road is represented; 
 detect a lane included on the road in response to a ratio of a length of the stop line to a width of the road; and 
 generate map information representing each of the detected lanes.