Method and system for detecting traffic lights
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.
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Abstract
A method for detecting traffic lights is provided. The method includes: obtaining a color image captured by a camera; converting the color image into a first monochrome scale image; converting the first monochrome scale image into a first binary image; identifying a first set of candidate blobs in the first binary image based on at least one predetermined geometric parameter; and determine whether a first region in the color image, which first region corresponds to one of the first set of candidate blobs, is a green traffic light using a green traffic light classifier. The accuracy and efficiency may be improved.
7 Citations
21 Claims
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1. A method for detecting traffic lights, comprising:
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obtaining a color image captured by a camera; converting the color image into a first monochrome scale image converting 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 Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for detecting traffic lights, comprising:
a processing device, configured to; obtain a color image captured by a camera; convert the color image into a first monochrome scale image, wherein the color image is converted into the first monochrome scale image based on a first threshold of brightness; convert the first monochrome scale image into a first binary image; identify 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 comprises a range of pixel number, a width range, and a range of width to height ratio; determine 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; convert the color image into a second binary image, wherein the color image is converted into the second binary image based on a second, different threshold, the second threshold being determined based on camera parameters including at least one of a color gamut and a color saturation; identify a second set of candidate blobs in the second binary image; and determine 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 Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
Specification