TRAFFIC SIGNAL MAPPING AND DETECTION
First Claim
Patent Images
1. A method comprising:
- receiving, by one or more processors of a vehicle, an image of a traffic intersection captured using a camera of the vehicle as the vehicle approaches the intersection, the image being associated with location information;
identifying, by one or more processors of the vehicle, a set of red, yellow, and green objects within the image;
generating, by the one or more processors of the vehicle, a set of traffic signal labels based on the set of identified red, yellow and green objects;
filtering, by the one or more processors of the vehicle, the set of traffic signal labels to remove labels for red, yellow, or green objects that correspond to objects other than a traffic signal light; and
determining, by the one or more processors of the vehicle, a three-dimensional location of a traffic signal based on the filtered set of traffic signal labels and location information of the image; and
determining, by the one or more processors of the vehicle, a status of the traffic signal based on the three-dimensional location and the image.
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Abstract
A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.
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Citations
20 Claims
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1. A method comprising:
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receiving, by one or more processors of a vehicle, an image of a traffic intersection captured using a camera of the vehicle as the vehicle approaches the intersection, the image being associated with location information; identifying, by one or more processors of the vehicle, a set of red, yellow, and green objects within the image; generating, by the one or more processors of the vehicle, a set of traffic signal labels based on the set of identified red, yellow and green objects; filtering, by the one or more processors of the vehicle, the set of traffic signal labels to remove labels for red, yellow, or green objects that correspond to objects other than a traffic signal light; and determining, by the one or more processors of the vehicle, a three-dimensional location of a traffic signal based on the filtered set of traffic signal labels and location information of the image; and determining, by the one or more processors of the vehicle, a status of the traffic signal based on the three-dimensional location and the image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 18, 19)
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12. A system comprising:
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a camera configured to capture an image of a traffic intersection as the vehicle approaches the intersection; one or more processors configured to; receive location information for the image; identify a set of red, yellow, and green objects within the image; generate a set of traffic signal labels based on the set of identified red, yellow and green objects; filter the set of traffic signal labels to remove labels for red, yellow, or green objects that correspond to objects other than a traffic signal light; and determine a three-dimensional location of a traffic signal based on the filtered set of traffic signal labels and location information of the image; and determine a status of the traffic signal based on the three-dimensional location and the image. - View Dependent Claims (13, 14, 15, 16, 17, 20)
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Specification