LANE MARKER RECOGNITION DEVICE

It is an object of the present invention to improve accuracy in recognizing division lines on roads. A division line recognition apparatus according to the present invention is an apparatus for recognizing a division line on a road from an image captured by a camera 101, wherein the division line recognition apparatus includes: a processing area setting unit 201 configured to set a processing area to the image; a statistics calculation unit 202 configured to calculate statistics of the image in the processing area; a threshold value setting unit 203 configured to set a plurality of threshold values, that is, a white line threshold value and a road surface threshold value on the basis of the statistics; a division line feature point extraction unit 205 configured to classify a plurality of pixels contained in the image on the basis of the white line threshold value and the road surface threshold value and extracts feature points of the division line on the basis of classification results of the plurality of pixels; and a division line decision unit 206 configured to decide the division line on the basis of the feature points extracted by the division line feature point extraction unit 205.