Traffic light detection
First Claim
1. A method for traffic light detection, comprising:
- obtaining, with a camera, a color image;
calculating, with a processor, 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 and pixel response values of green traffic light pixels are substantially distributed outside of a predetermined range, where the pixel response values of red traffic light pixels are substantially distributed on a first side of the predetermined range and the 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, each of the pixel response values being calculated based on multiplication of a first component and a second component of a corresponding pixel, the second component being calculated based on a summation of a sixth component and a seventh component which are respectively based on R and G values of the corresponding pixel, where the sixth and seventh components have a same sign;
identifying, with the processor, pixels whose pixel response values are distributed on the first side or the second side as candidate pixels;
identifying, with the processor, candidate blobs based on the candidate pixels; and
verifying, with the processor, whether the candidate blobs are traffic lights,wherein the processor is configured to use a classifier to verify whether the candidate blobs are traffic lights, andwherein the classifier is a neural network, a support vector machine, or a cascade detector.
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Accused Products
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.
3 Citations
18 Claims
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1. A method for traffic light detection, comprising:
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obtaining, with a camera, a color image; calculating, with a processor, 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 and pixel response values of green traffic light pixels are substantially distributed outside of a predetermined range, where the pixel response values of red traffic light pixels are substantially distributed on a first side of the predetermined range and the 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, each of the pixel response values being calculated based on multiplication of a first component and a second component of a corresponding pixel, the second component being calculated based on a summation of a sixth component and a seventh component which are respectively based on R and G values of the corresponding pixel, where the sixth and seventh components have a same sign; identifying, with the processor, pixels whose pixel response values are distributed on the first side or the second side as candidate pixels; identifying, with the processor, candidate blobs based on the candidate pixels; and verifying, with the processor, whether the candidate blobs are traffic lights, wherein the processor is configured to use a classifier to verify whether the candidate blobs are traffic lights, and wherein the classifier is a neural network, a support vector machine, or a cascade detector. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for traffic light detection, comprising a processing device configured to use a classifier, wherein the classifier is a neural network, a support vector machine, or a cascade detector, the system configured to:
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obtain, from a camera, 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 and pixel response values of green traffic light pixels are substantially distributed outside of a predetermined range, where the pixel response values of red traffic light pixels are substantially distributed on a first side of the 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, each of the pixel response values being calculated based on multiplication of a first component and a second component of a corresponding pixel, the second component being calculated based on a summation of a sixth component and a seventh component which are respectively based on R and G values of the corresponding pixel, where the sixth and seventh components have a same sign; 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, with the classifier, whether the candidate blobs are traffic lights. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system for traffic light detection, comprising:
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a processor configured to use a classifier, wherein the classifier is a neural network, a support vector machine, or a cascade detector; and a non-transitory computer readable medium storing instructions executable by the processor to; calculate 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 and pixel response values of green traffic light pixels are substantially distributed outside of a predetermined range, where the pixel response values of red traffic light pixels are substantially distributed on a first side of the 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, each of the pixel response values being calculated based on multiplication of a first component and a second component of a corresponding pixel, the second component being calculated based on a summation of a sixth component and a seventh component which are respectively based on R and G values of the corresponding pixel, where the sixth and seventh components have a same sign; 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, using the classifier, whether the candidate blobs are traffic lights. - View Dependent Claims (16, 17, 18)
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Specification