| 摘要 |
PROBLEM TO BE SOLVED: To allow accurate discrimination of a lighting color of a signal lamp which is represented in a photographic image. SOLUTION: A candidate area for a signal lamp is repeatedly extracted from a forward image by a candidate area extraction unit 24, and the corresponding candidate area of the signal lamp is tracked by a tracking unit 26. Switching of the lighting color is determined by a switching determination unit 28, on the basis of the change at a position of the tracked candidate area of the signal lamp. When it is determined that the lighting color has been switched, it is determined whether the position and the color of the candidate area of the signal lamp have been changed by the switching of the lighting color, in accordance with a lighting rule. If it is determined that the position and the color of the candidate area of the signal lamp have not changed, according to the lighting rule, a lighting color resulting from the change according to the lighting rule is discriminated as being the lighting color of the candidate area of the signal lamp by a lighting color discriminating unit 30. COPYRIGHT: (C)2011,JPO&INPIT
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