A traffic signal detection device 100 includes: a traffic signal position estimation unit 13 which estimates a relative position of a traffic signal with respect to a vehicle 5, based on map information D02 including positional information of the traffic signal around the vehicle 5 and a self-position of the vehicle 5; a first detection region setting unit 21 which sets a first detection region on an image for each traffic signal predicted to be present on the image obtained by an image capturing unit 11 from the relative position of the traffic signal; a second detection region setting unit 14 which sets, when it is predicted that a plurality of traffic signals is present on the image, a second detection region including the plurality of predicted traffic signals on the image; a third detection region setting unit 23 which sets a third detection region by correcting the first detection region, based on lamp candidates of the traffic signals detected from the second detection region; and a traffic signal detector 17 which detects the traffic signals from the third detection region.
TRAFFIC SIGNAL DETECTION DEVICE AND TRAFFIC SIGNAL DETECTION METHOD
SIGNALGEBERERKENNUNGSVORRICHTUNG UND SIGNALGEBERERKENNUNGSVERFAHREN
DISPOSITIF DE DÉTECTION DE FEU DE CIRCULATION ET PROCÉDÉ DE DÉTECTION DE FEU DE CIRCULATION
2020-01-01
Patent
Elektronische Ressource
Englisch
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