To provide a traffic light recognition device and the like that can recognize a traffic light accurately without requiring complicated processing.SOLUTION: A traffic light recognition device comprises: a first color detection unit for detecting a first lighting color of a traffic light from an image; a second color detection unit for detecting a second lighting color of the traffic light from the image; and a traffic light detection unit for recognizing the traffic light at a position corresponding to a first region and a second region when the first lighting color is detected by the first color detection unit in the first region in a first image acquired at a first point and the second lighting color is detected by the second color detection unit in the second region in a second image acquired at a second point that is later than the first point, the second region having a specific position relation with respect to the first region on the second image.SELECTED DRAWING: Figure 1
【課題】煩雑な処理を要することなく、精度良く信号機を認識することができる信号機認識装置等を提供する。【解決手段】画像内から信号機の第1点灯色を検出する第1色検出部と、画像内から信号機の第2点灯色を検出する第2色検出部と、第1時点で取得した第1画像における第1の領域に第1色検出部により第1点灯色が検出され、かつ、第1時点よりも後の第2時点で取得した第2画像における第2の領域であって第1の領域に対し第2画像上で特定の位置関係にある第2の領域において、第2色検出部により第2点灯色が検出された場合に、第1の領域および第2の領域に対応する位置の信号機を認識する信号機検出部と、を備える。【選択図】図1
TRAFFIC LIGHT RECOGNITION DEVICE, TRAFFIC LIGHT RECOGNITION METHOD, AND PROGRAM FOR TRAFFIC LIGHT RECOGNITION
信号機認識装置、信号機認識方法および信号機認識のためのプログラム
2020-12-03
Patent
Electronic Resource
Japanese
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