PROBLEM TO BE SOLVED: To improve the accuracy of detecting traffic lights when two or more traffic lights are to be included in an image.SOLUTION: A traffic light recognition apparatus (100) includes an imaging section 11 which images the surroundings of a vehicle to obtain an image, detects a position of the vehicle (12), and estimates a relative position of a traffic light which the vehicle is to follow, with respect to the vehicle, from the position of the vehicle and position information of the traffic light located around the vehicle (13). A detection area is set in the position of the traffic light on the image estimated from the relative position of the traffic light (14). The traffic light is detected from the detection area set on the image (15). For each of the detection areas, probability of falsely detecting the traffic light is evaluated (16). When two or more detection areas are set, the traffic light is detected from a detection area having the lowest probability of falsely detecting the traffic light.SELECTED DRAWING: Figure 2

    【課題】2以上の信号機が画像に写ることが予測される場合における信号機の検出精度を高める。【解決手段】信号機認識装置(100)は、車両の周囲を撮像して画像を取得する撮像部11を備え、車両の自己位置を検出し(12)、車両の周囲にある信号機の位置情報と自己位置とから、車両が従うべき信号機の車両に対する相対位置を推定する(13)。信号機の相対位置から予想される画像上の信号機の位置に検出領域を設定し(14)、画像上に設定された検出領域から信号機を検出する(15)。そして、検出領域の各々について信号機の誤検出しやすさを評価し(16)、検出領域が2以上設定された場合、信号機の誤検出しやすさが最も低い検出領域から信号機を検出する。【選択図】図2


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    Title :

    TRAFFIC LIGHT RECOGNITION APPARATUS AND TRAFFIC LIGHT RECOGNITION METHOD


    Additional title:

    信号機認識装置及び信号機認識方法


    Contributors:
    YAMANOI DAIKI (author) / MATSUO HARUO (author) / ANDO TOSHIYUKI (author) / OKI TAKAHIKO (author) / SUZUKI AKIRA (author)

    Publication date :

    2016-03-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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