System and method for traffic signal detection
First Claim
Patent Images
1. A method comprising:
- determining a location of a vehicle;
collecting an image using a camera associated with the vehicle; and
analyzing the image in conjunction with the location of the vehicle and in conjunction with previously collected information on the location of traffic signals, collected by a system in the vehicle and relevant to the specific vehicle, wherein the previously collected information is stored in a database or memory within the vehicle, to locate an image of a traffic signal within the collected image;
locating the image of the traffic signal by analyzing portions of the image, wherein the analysis is weighted by the location of the vehicle in conjunction with known map data, and is input to one or more classifiers, each comprising an ensemble of detectors in cascade.
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Abstract
A method and system may determine a location of a vehicle, collect an image using a camera associated with the vehicle, analyze the image in conjunction with the location of the vehicle and/or previously collected information on the location of traffic signals or other objects (e.g., traffic signs), and using this analysis locate an image of a traffic signal within the collected image. The position (e.g., a geographic position) of the signal may be determined, and stored for later use. The identification of the signal may be used to provide an output such as the status of the signal, such as green light.
65 Citations
17 Claims
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1. A method comprising:
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determining a location of a vehicle; collecting an image using a camera associated with the vehicle; and analyzing the image in conjunction with the location of the vehicle and in conjunction with previously collected information on the location of traffic signals, collected by a system in the vehicle and relevant to the specific vehicle, wherein the previously collected information is stored in a database or memory within the vehicle, to locate an image of a traffic signal within the collected image; locating the image of the traffic signal by analyzing portions of the image, wherein the analysis is weighted by the location of the vehicle in conjunction with known map data, and is input to one or more classifiers, each comprising an ensemble of detectors in cascade. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system comprising:
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a database storing previously collected information on the location of traffic signals; a camera; a vehicle location detection system; and a controller to; accept a location of a vehicle from the vehicle location detection system; collect an image using the camera; analyze the image in conjunction with the location of the vehicle and in conjunction with the previously collected information on the location of traffic signals, collected by a system in the vehicle and relevant to the specific vehicle, wherein the previously collected information is stored in the database or memory within the vehicle, to locate an image of a traffic signal within the collected image; and wherein the controller is to locate the image of the traffic signal by analyzing portions of the image, wherein the analysis is weighted by the location of the vehicle in conjunction with known map data, and is input to one or more classifiers, each comprising an ensemble of detectors in cascade. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A method comprising:
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in a vehicle, capturing an image; searching within a plurality of candidate areas within the image for a traffic signal, wherein the candidate areas are determined using as input, and in conjunction with, previously collected information on the location of traffic signals as stored in a system or database within the vehicle or controlled by the vehicle, and relevant to the specific vehicle; determining the status of the traffic signal within the image and wherein searching for the traffic signal within the image is weighted by the location of the vehicle, and is input to one or more classifiers, each comprising an ensemble of detectors in cascade. - View Dependent Claims (14, 15, 16, 17)
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Specification