×

Method and system for detecting traffic lights

  • US 9,811,746 B2
  • Filed: 11/20/2012
  • Issued: 11/07/2017
  • Est. Priority Date: 11/20/2012
  • Status: Active Grant
First Claim
Patent Images

1. A method for detecting traffic lights, comprising:

  • obtaining a color image captured by a camera;

    converting the color image into a first monochrome scale imageconverting the first monochrome scale image into a first binary image wherein the color image is converted into the first monochrome scale image based on a first threshold of brightness;

    identifying a first set of candidate blobs in the first binary image based on at least three predetermined geometric parameters, wherein the at least three predetermined geometric parameters comprise a range of pixel number, a width range, and a range of width to height ratio;

    determining whether a first region in the color image, which corresponds to one of the first set of candidate blobs, represents a green traffic light using a green traffic light classifier;

    converting the color image into a second binary image, wherein the color image is converted into the second binary image based on a second threshold, the second threshold being determined based on camera parameters including at least one of a color gamut and a color saturation;

    identifying a second set of candidate blobs in the second binary image; and

    determining whether a second region in the color image, which corresponds to one of the second set of candidate blobs, represents a red traffic light using a red traffic light classifier.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×