Traffic signal mapping and detection
First Claim
Patent Images
1. A method of determining three-dimensional locations of traffic signals, the method comprising:
- receiving a plurality of images, each image of the plurality of images is associated with geographic location and orientation information;
selecting, by a computer, one or more images of the plurality of images which are associated with the geographic locations proximate to traffic intersections;
for each selected image, identifying by the computer brightly-colored red, yellow, and green objects within the selected image;
generating a set of traffic signal labels based on the identified brightly-colored red, yellow and green objects;
identifying associated labels within two or more of the selected images, based on the geographic location and orientation information of the two or more selected images;
filtering the set of traffic signal labels to remove labels for brightly-colored red, yellow, or green objects that correspond to objects other than a traffic signal light;
determining the three-dimensional locations of traffic signals based on (1) the identified associated labels, (2) the filtered set of traffic signal labels, and (3) the geographic location and orientation information of the two or more selected images;
storing the three-dimensional locations of the traffic signals in memory accessible by the computer; and
using the three-dimensional locations of the traffic signal to assist an autonomous vehicle.
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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
30 Claims
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1. A method of determining three-dimensional locations of traffic signals, the method comprising:
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receiving a plurality of images, each image of the plurality of images is associated with geographic location and orientation information; selecting, by a computer, one or more images of the plurality of images which are associated with the geographic locations proximate to traffic intersections; for each selected image, identifying by the computer brightly-colored red, yellow, and green objects within the selected image; generating a set of traffic signal labels based on the identified brightly-colored red, yellow and green objects; identifying associated labels within two or more of the selected images, based on the geographic location and orientation information of the two or more selected images; filtering the set of traffic signal labels to remove labels for brightly-colored red, yellow, or green objects that correspond to objects other than a traffic signal light; determining the three-dimensional locations of traffic signals based on (1) the identified associated labels, (2) the filtered set of traffic signal labels, and (3) the geographic location and orientation information of the two or more selected images; storing the three-dimensional locations of the traffic signals in memory accessible by the computer; and using the three-dimensional locations of the traffic signal to assist an autonomous vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device for determining three-dimensional locations of traffic signals, the device comprising:
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a processor; and memory; and the processor being configured to; receive a plurality of images, each image of the plurality of images is associated with geographic location and orientation information; select one or more images of the plurality of images which are associated with geographic locations proximate to traffic intersections; for each selected image, identify brightly-colored red, yellow, and green objects within the selected image; generate a set of traffic signal labels based on the identified brightly colored red, yellow, and green objects; identify associated labels within two or more of the selected images, based on the geographic location and orientation information of the two or more selected images; filter the set of traffic signal labels to remove labels for brightly colored red, yellow, or green objects that correspond to an object other than a traffic signal light based on direct motion compensation; determine the three-dimensional locations of traffic signals based on (1) the identified associations between the two or more of the selected images, (2) the filtered set of traffic signal labels, and (3) the geographic location and orientation information of the two or more selected images; store the three-dimensional locations of traffic signals in memory accessible by the device; and use the three-dimensional locations of the traffic signal to assist an autonomous vehicle. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method of determining the status of a traffic signal, the method comprising:
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repeatedly determining a current location of a client device; determining an estimated location of the boundaries of a traffic signal based on a comparison of the current location of the client device to a map of three-dimensional locations of traffic signals; collecting images of the estimated location; for each collected image, identifying by the client device brightly colored red, yellow, and green objects within the boundaries of the estimated location of the traffic signal; generating a set of traffic signal labels based on the identified brightly colored red, yellow, and green objects; filtering the set of traffic signal labels to remove labels for brightly colored red, yellow, or green objects within the boundaries of the estimated location of the traffic signal that correspond to an object other than a traffic signal light based on direct motion compensation; and detecting, from the filtered set of traffic signal labels, the status of the traffic signal; and using the estimated location of the traffic signal and the status of the traffic signal to assist an autonomous vehicle. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26)
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27. A device for determining three-dimensional locations of traffic signals, the device comprising:
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a processor; and memory, including a first part for storing secondary resource files; and the processor being configured to; repeatedly determine the current location of a client device; determine an estimated location of the boundaries of a traffic signal based on a comparison of the current location of the client device to a map of three-dimensional locations of traffic signals; collect images of the estimated location; for each collected image, identify by the client device brightly colored red, yellow, and green objects within the boundaries of the estimated location of the traffic signal; generate a set of traffic signal labels based on the identified brightly colored red, yellow, and green objects; filtering the set of traffic signal labels to remove labels for brightly colored red, yellow, or green objects within the boundaries of the estimated location of the traffic signal that correspond to an object other than a traffic signal light based on direct motion compensation; detect, from the filtered set of traffic signal labels, the status of the traffic signal; and use the estimated location of the traffic signal and the status of the traffic signal to assist an autonomous vehicle. - View Dependent Claims (28)
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29. A method of collecting images of traffic signals, the method comprising:
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setting gain and shutter speed of a camera to avoid saturation of a traffic signal light; mounting the camera to a vehicle; maneuvering the vehicle through a traffic intersection; collecting a plurality of images of the traffic intersection; associating geographic location and orientation information with each of the plurality of images based on a positioning device; storing the plurality of images and associated geographic locations in memory; transmitting the plurality of images and the associated geographic locations to a computer over a network; receiving the plurality of images and the associated geographic location and orientation information; selecting one or more images of the plurality of images which are associated with geographic locations proximate to traffic intersections; for each selected image, identifying brightly colored red, yellow, and green objects within the selected image; identifying associated labels within two or more of the selected images, based on the geographic location and orientation information of the two or more selected images; filtering the set of traffic signal labels to remove labels for brightly colored red, yellow, or green objects within the selected image that correspond to an object other than a traffic signal light based on direct motion compensation; determining the three-dimensional locations of traffic signals based on (1) the identified associated labels, (2) the filtered set of traffic signal labels, and (3) the geographic location and orientation information of the two or more selected images; and storing the three-dimensional locations of traffic signals in memory accessible by the computer; and using the three-dimensional locations of the traffic signal to assist an autonomous vehicle. - View Dependent Claims (30)
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Specification