TRAFFIC LIGHT DETECTION
First Claim
1. A method for traffic light detection, comprising:
- obtaining a color image;
calculating pixel response values for pixels of the color image, respectively, where each of the pixel response values is calculated using R, G, and B values of a corresponding pixel directly, such that pixel response values of red traffic light pixels are substantially distributed on a first side of a predetermined range and pixel response values of green traffic light pixels are substantially distributed on a second side of the predetermined range which is opposite to the first side;
identifying pixels whose pixel response values are distributed on the first side or the second side as candidate pixels;
identifying candidate blobs based on the candidate pixels; and
verifying whether the candidate blobs are traffic lights.
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Abstract
A method and a system for traffic light detection are provided. The method may include: obtaining a color image; calculating pixel response values for pixels of the color image, respectively, where each of the pixel response values may be calculated using R, G, and B values of a corresponding pixel directly, such that pixel response values of red traffic light pixels are substantially distributed on a first side of a predetermined range and pixel response values of green traffic light pixels are substantially distributed on a second side of the predetermined range which is opposite to the first side; identifying pixels whose pixel response values are distributed on the first side or the second side as candidate pixels; identifying candidate blobs based on the candidate pixels; and verifying whether the candidate blobs are traffic lights. Efficiency and reliability may be improved.
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Citations
20 Claims
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1. A method for traffic light detection, comprising:
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obtaining a color image; calculating pixel response values for pixels of the color image, respectively, where each of the pixel response values is calculated using R, G, and B values of a corresponding pixel directly, such that pixel response values of red traffic light pixels are substantially distributed on a first side of a predetermined range and pixel response values of green traffic light pixels are substantially distributed on a second side of the predetermined range which is opposite to the first side; identifying pixels whose pixel response values are distributed on the first side or the second side as candidate pixels; identifying candidate blobs based on the candidate pixels; and verifying whether the candidate blobs are traffic lights. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for traffic light detection, comprising a processing device configured to:
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obtain a color image; calculate pixel response values for pixels of the color image, respectively, where each of the pixel response values is calculated using R, G, and B values of a corresponding pixel directly, such that pixel response values of red traffic light pixels are substantially distributed on a first side of a predetermined range and pixel response values of green traffic light pixels are substantially distributed on a second side of the predetermined range which is opposite to the first side; identify pixels whose pixel response values are distributed on the first side or the second side as candidate pixels; identify candidate blobs based on the candidate pixels; and verify whether the candidate blobs are traffic lights. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A system for traffic light detection, comprising:
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means for calculating pixel response values for pixels of a color image, respectively, where each of the pixel response values is calculated using R, G, and B values of a corresponding pixel directly, such that pixel response values of red traffic light pixels are substantially distributed on a first side of a predetermined range and pixel response values of green traffic light pixels are substantially distributed on a second side of the predetermined range which is opposite to the first side; means for identifying pixels whose pixel response values are distributed on the first side or the second side as candidate pixels; means for identifying candidate blobs based on the candidate pixels; and means for verifying whether the candidate blobs are traffic lights. - View Dependent Claims (18, 19, 20)
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Specification