| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately detect a traffic light while preventing a failure of detection, even if an inexpensive color camera having less dynamic range and less sensitivity is used. <P>SOLUTION: A signal light candidate extraction section 26 extracts candidate areas of a signal light from a frame image captured by an imaging apparatus 12 based on color distribution and shapes. A signal light likelihood calculation section 28 calculates a likelihood indicating a signal light likelihood of each of the candidate areas of the signal light. A traffic light candidate extraction section 32 extracts candidate areas of a traffic light based on a shape feature. A traffic light tracking section 34 predicts a detection position in a present frame using a tracking model based on a detection result up to a previous frame. If candidate areas of the traffic light corresponding to the predicted position exist, the signal light is tracked to be detected by using a less-likelihood area in the candidate areas of the signal light corresponding to the candidate areas of the traffic light. If no candidate area of the traffic light corresponding to the predicted position exists, the signal light is tracked to be detected by using a high-likelihood area in the candidate areas of the signal light corresponding to the predicted position. <P>COPYRIGHT: (C)2012,JPO&INPIT |
