Method and system for detecting signal color from a moving video platform
First Claim
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1. A method for detecting a color of a signal light from a moving vehicle comprising:
- capturing an image from a camera mounted on the moving vehicle;
extracting candidate regions in the image that contain a light region based on a database comprising locations of signal structures along railway tracks;
classifying the candidate regions as a signal light region or a non-signal light region; and
identifying the color of the signal light region;
wherein extracting candidate regions in the image that contain a light region comprises mapping a set of measurements in world coordinates to a set of measurements in image coordinates based on a projection matrix.
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Abstract
The present invention aims at providing a method for detecting a color of a signal light from a moving vehicle such as railroad train. The method includes capturing an image from a camera mounted on the moving vehicle and extracting candidate regions in the image that contain light region. The method further includes classifying the candidate regions as a signal light region or a non-signal light region and identifying the color of the signal light region.
20 Citations
23 Claims
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1. A method for detecting a color of a signal light from a moving vehicle comprising:
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capturing an image from a camera mounted on the moving vehicle; extracting candidate regions in the image that contain a light region based on a database comprising locations of signal structures along railway tracks; classifying the candidate regions as a signal light region or a non-signal light region; and identifying the color of the signal light region; wherein extracting candidate regions in the image that contain a light region comprises mapping a set of measurements in world coordinates to a set of measurements in image coordinates based on a projection matrix. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 23)
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9. A system for detecting a color of a signal light comprising:
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a camera configured to capture images from a moving vehicle; a filter configured to extract light regions from candidate regions in the image; and a classifier configured to classify the light regions as a signal light region or a non-signal light region and to detect the color of the signal light region; wherein candidate regions are determined by mapping a set of measurements in world coordinates to a set of measurements in image coordinates based on a projection matrix. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A non-transitory computer-readable storage medium comprising computer-readable instructions of a computer program that, when executed by a processor, cause the processor to perform a method for detecting a color of a signal light in an image comprising:
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extracting candidate regions in the image that contain a light region; classifying the candidate regions as a signal light region or a non-signal light region; identifying color of the signal light region; wherein candidate regions are determined based on a database comprising locations of signal structures along railway tracks; and wherein extracting candidate regions in the image that contain a light region comprises mapping a set of measurements in world coordinates to a set of measurements in image coordinates based on a projection matrix. - View Dependent Claims (17, 18)
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19. A method for detecting a state of signal lights from a moving vehicle comprising:
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capturing a video from a camera mounted on the moving vehicle; extracting images from the video; detecting light regions in the image corresponding to the signal light; identifying color of the signal lights; analyzing color of the signal lights to obtain a visual cue based on a set of decision rules; and utilizing a tracking algorithm to detect the state of the signal light to eliminate a false detection; wherein detecting light regions in the image corresponding to the signal light comprises mapping a set of measurements in world coordinates to a set of measurements in image coordinates based on a projection matrix. - View Dependent Claims (20, 21, 22)
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Specification