SIGNAL RECOGNIZING DEVICE, SIGNAL RECOGNIZING METHOD AND SIGNAL RECOGNIZING PROGRAM
First Claim
1. A signal recognizing device which is mounted on a moving body and which electromagnetically connects to a camera, comprising:
- a signal display candidate detecting unit which detects a green lamp candidate area from an image obtained from the camera;
a reference calculating unit which calculates a time-series statistic of unit area values per unit area of the green lamp candidate area in a state where a red lamp is lit, and which stores the statistics on a storage unit; and
a green lighting determination unit which determines whether or not a green lamp is lit based on the image including the green lamp candidate area in a state where the red lamp is unlit and the statistics, in case of determining that the red lamp varies from a lit state to an unlit state;
wherein the reference calculating unit omits unit area values of unit areas of the green lamp candidate area from samples for calculating the statistics, provided that each difference between the unit area values and either the statistics or unit area values of unit areas of a green lamp candidate area existing in an image previously obtained in an unlit state of the green lamp is larger than a predetermined threshold.
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Accused Products
Abstract
A signal recognizing device is mounted on a moving body, and connects to a camera. The signal recognizing device includes a storage unit, a signal display candidate detecting unit (SDCDU), a reference calculating unit (RCU) and a green lighting determination unit (GLDU). The SDCDU detects red lamp candidate areas from an image. The RCU calculates a moving average of pixel value per pixel existing in the green lamp candidate area, and stores the moving averages. For each pixel value of the green lamp candidate area, the RCU omits the pixel value from the samples for calculating the moving average if a difference between the pixel value and the moving average exceeds a threshold. Upon red lamp transition to an unlit state, it determines whether a green lamp is lit based on the image captured at the time of the unlit state of the red lamp and the moving averages.
14 Citations
10 Claims
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1. A signal recognizing device which is mounted on a moving body and which electromagnetically connects to a camera, comprising:
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a signal display candidate detecting unit which detects a green lamp candidate area from an image obtained from the camera; a reference calculating unit which calculates a time-series statistic of unit area values per unit area of the green lamp candidate area in a state where a red lamp is lit, and which stores the statistics on a storage unit; and a green lighting determination unit which determines whether or not a green lamp is lit based on the image including the green lamp candidate area in a state where the red lamp is unlit and the statistics, in case of determining that the red lamp varies from a lit state to an unlit state; wherein the reference calculating unit omits unit area values of unit areas of the green lamp candidate area from samples for calculating the statistics, provided that each difference between the unit area values and either the statistics or unit area values of unit areas of a green lamp candidate area existing in an image previously obtained in an unlit state of the green lamp is larger than a predetermined threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A signal recognizing method executed by a signal recognizing device which is mounted on a moving body and which electromagnetically connects to a camera, comprising:
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a signal display candidate detecting process which detects a green lamp candidate area from an image obtained from the camera; a reference calculating process which calculates a time-series statistic of unit area values per unit area of the green lamp candidate area in a state where a red lamp is lit, and which stores the statistics on a storage unit; and a green lighting determination process which determines whether or not a green lamp is lit based on the image including the green lamp candidate area in a state where the red lamp is unlit and the statistics, in case of determining that the red lamp varies from a lit state to an unlit state; wherein the reference calculating process omits unit area values of unit areas of the green lamp candidate area from samples for calculating the statistics, provided that between the unit area values and either the statistics or unit area values of unit areas of a green lamp candidate area existing in an image previously obtained in an unlit state of the green lamp are larger than a predetermined threshold.
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9. A signal recognizing program stored on a non-transitory storage medium and executed by a signal recognizing device which is mounted on a moving body and which electromagnetically connects to a camera, making the signal recognizing device function as:
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a signal display candidate detecting unit which detects a green lamp candidate area from an image obtained from the camera; a reference calculating unit which calculates a time-series statistic of unit area values per unit area of the green lamp candidate area in a state where a red lamp is lit, and which stores the statistics on a storage unit; and a green lighting determination unit which determines whether or not a green lamp is lit based on the image including the green lamp candidate area in a state where the red lamp is unlit and the statistics, in case of determining that the red lamp varies from a lit state to an unlit state; wherein the reference calculating unit omits unit area values of unit areas of the green lamp candidate area from samples for calculating the statistics, provided that between the unit area values and either the statistics or unit area values of unit areas of a green lamp candidate area existing in an image previously obtained in an unlit state of the green lamp are larger than a predetermined threshold.
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10. (canceled)
Specification