System and method for traffic signal recognition

摘要

Detecting traffic signaling of a mobile environment includes receiving image frames captured by an imaging device to detect a traffic signal candidate therefrom based on at least a vehicle location. A score having a predefined value is established for the traffic signal candidate. The traffic signal candidate is tracked by incrementing the score when the traffic signal candidate is determined to appear, based on a probabilistic estimator that indicates an expected value for a location of the traffic signal candidate, in a tracked image frame of the captured image frames. The score is decremented when the traffic signal candidate is determined not to appear, based on the probabilistic estimator, in the tracked image frame. The traffic signal candidate is recognized as a traffic signal based on whether the score is above a specified threshold.

主权项

1. A controller for detecting traffic signaling of a mobile environment, comprising:
a central processing unit, having a candidate detector to receive image frames captured by an imaging device to detect a traffic signal candidate therefrom based on at least a vehicle location, the candidate detector detecting the traffic signal candidate in the absence of a template for a traffic light housing; a candidate tracker to establish a score having a predefined value for the traffic signal candidate and track the traffic signal candidate by incrementing the score when the traffic signal candidate is determined to appear, based on a probabilistic estimator that indicates an expected value for a location of the traffic signal candidate, in a tracked image frame of the captured image frames, and decrementing the score when the traffic signal candidate is determined not to appear, based on the probabilistic estimator, in the tracked image frame; and a traffic signal determiner to determine whether the traffic signal candidate is a traffic signal based on whether the score is above a specified threshold.