To provide a signal light state identification apparatus capable of identifying a state related to the turn-on or turn-off of a vehicular signal light represented in an image.SOLUTION: A signal light state identification apparatus includes: an article detection part 31 for detecting an article zone that includes a vehicle provided with a signal light in an image for each of a series of images obtained in time-series by inputting the images into a first identifying device that has been pre-learned so as to detect the vehicle; a confidence degree calculation part 33 for calculating a confidence degree of an individual candidate state in which the vehicular signal light can fall by inputting a characteristic calculated from a pixel value within the article zone detected in each of the series of images into a second identifying device that has a recursive structure or executes a convolution operation in a temporal axis direction; and a state identification part 34 for identifying a state of the signal light on the basis of: the state of the signal light at immediate past; information representing a permissibility of shift among individual candidates of the signal light; and the confidence degree of an individual candidate state.SELECTED DRAWING: Figure 3
【課題】画像に表された車両の信号灯の点灯または消灯に関する状態を識別することが可能な信号灯状態識別装置を提供する。【解決手段】信号灯状態識別装置は、時系列に得られる一連の画像を、信号灯を有する車両を検出するように予め学習された第1の識別器に入力することで、一連の画像のそれぞれについて、その画像上において車両を含む物体領域を検出する物体検出部31と、一連の画像のそれぞれにおいて検出された物体領域内の画素値から求められる特徴を、再帰構造を有し、または時間軸方向における畳み込み演算を実行する第2の識別器に時系列順に入力することで、車両の信号灯の取り得る個々の候補状態の確信度を算出する確信度算出部33と、直前における信号灯の状態と、信号灯の個々の候補状態間の遷移の可否を表す情報と、個々の候補状態の確信度とに基づいて、信号灯の状態を識別する状態識別部34とを有する。【選択図】図3
SIGNAL LIGHT STATE IDENTIFICATION APPARATUS, SIGNAL LIGHT STATE IDENTIFICATION METHOD, SIGNAL LIGHT STATE-IDENTIFYING PROGRAM, AND CONTROL APPARATUS
信号灯状態識別装置、信号灯状態識別方法及び信号灯状態識別用コンピュータプログラムならびに制御装置
2021-10-11
Patent
Electronic Resource
Japanese
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