Vision-based detection and classification of traffic lights
First Claim
1. A method comprising:
- receiving, from an image-capture device coupled to an autonomous vehicle, an image of a field of view of the autonomous vehicle, wherein the image comprises a plurality of image portions;
calculating, for each given image portion, a respective score indicating a level of confidence that the given image portion represents an illuminated component of a traffic light, wherein calculating the respective score for the given image portion comprises identifying at least one area within the given image portion and determining color values and luminance values of pixels in the at least one area;
determining that at least one image portion represents an illuminated component of a traffic light based on the score of the at least one image portion; and
based on the at least one image portion representing an illuminated component of a traffic light, providing instructions executable by a computing device to control the autonomous vehicle.
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Accused Products
Abstract
The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes an image processing system. The image processing system receives an image that includes a plurality of image portions. The image processing system also calculates a score for each image portion. The score indicates a level of confidence that a given image portion represents an illuminated component of a traffic light. The image processing system further identifies one or more candidate portions from among the plurality of image portions. Additionally, the image processing system determines that a particular candidate portion represents an illuminated component of a traffic light using a classifier. Further, the image processing system provides instructions to control the autonomous vehicle based on the particular candidate portion representing an illuminated component of a traffic light.
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Citations
20 Claims
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1. A method comprising:
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receiving, from an image-capture device coupled to an autonomous vehicle, an image of a field of view of the autonomous vehicle, wherein the image comprises a plurality of image portions; calculating, for each given image portion, a respective score indicating a level of confidence that the given image portion represents an illuminated component of a traffic light, wherein calculating the respective score for the given image portion comprises identifying at least one area within the given image portion and determining color values and luminance values of pixels in the at least one area; determining that at least one image portion represents an illuminated component of a traffic light based on the score of the at least one image portion; and based on the at least one image portion representing an illuminated component of a traffic light, providing instructions executable by a computing device to control the autonomous vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An image processing system comprising:
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an image-capture device; at least one processor; and a memory having stored thereon instructions that, upon execution by the at least one processor, cause the image processing system to perform functions comprising; receiving, from the image-capture device coupled to an autonomous vehicle, an image of a field of view of the autonomous vehicle, wherein the image comprises a plurality of image portions; calculating, for each given image portion, a respective score indicating a level of confidence that the given image portion represents an illuminated component of a traffic light, wherein calculating the respective score for the given image portion comprises identifying at least one area within the given image portion and determining color values and luminance values of pixels in the at least one area; determining that at least one image portion represents an illuminated component of a traffic light based on the score of the at least one image portion; and based on the at least one image portion representing an illuminated component of a traffic light, providing executable instructions to control the autonomous vehicle. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable medium having stored thereon instructions that, upon execution by at least one processor of a computing device, cause the computing device to perform functions comprising:
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receiving, from an image-capture device coupled to an autonomous vehicle, an image of a field of view of the autonomous vehicle, wherein the image comprises a plurality of image portions; calculating, for each given image portion, a respective score indicating a level of confidence that the given image portion represents an illuminated component of a traffic light, wherein calculating the respective score of the given image portion comprises identifying at least one area within the given image portion and determining color values and luminance values of pixels in the at least one area; determining that at least one image portion represents an illuminated component of a traffic light based on the score of the at least one image portion; and based on the at least one portion representing an illuminated component of a traffic light, providing instructions executable by the computing device to control the autonomous vehicle. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification