CN113642521A - Traffic light identification quality evaluation method and device and electronic equipment - Google Patents
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Abstract
The invention provides a method and a device for evaluating traffic light identification quality and electronic equipment, wherein the method comprises the following steps: determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light identified by the traffic light identification algorithm and the color of the traffic light marked; if the result is correct, calculating the overlapping rate of the surrounding frame of the traffic light identified by the traffic light identification algorithm and the surrounding frame of the labeled traffic light, and taking the overlapping rate as a first score; counting the number of pixels of the pixels with the correct color identified by a traffic light identification algorithm, and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic light; and determining the score of the traffic light identification quality according to the first score and the second score. The method can quantitatively judge the traffic light identification quality identified by the traffic light identification algorithm, so as to determine the effectiveness of the traffic light identification algorithm, and the technical problem that the identification quality of the traffic light cannot be judged in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of traffic light identification, in particular to a method and a device for evaluating the identification quality of a traffic light and electronic equipment.
Background
With the wider application of intelligent technology, the automatic driving technology comes up at the same time, and during automatic driving, the identification of traffic lights has very important influence on automatic driving of vehicles.
The advanced driving assistance system senses the surrounding environment in the driving process of the automobile by using sensors, such as millimeter wave radar, laser radar, a camera and satellite navigation, and collects data, identifies, detects and tracks static and dynamic objects, and performs systematic operation and analysis by combining with navigator map data, so that a driver can predict possible dangers in advance, and the safety is effectively improved. At present, city traffic light recognition based on vision is one of the core contents of auxiliary driving research, and some characteristics of traffic light images are generally detected through a traffic light recognition algorithm so as to recognize the traffic light state. However, the prior art cannot judge the identification quality of the traffic light, and further cannot determine the effectiveness of the traffic light identification algorithm.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for evaluating traffic light identification quality, and an electronic device, so as to alleviate the technical problem that the identification quality of a traffic light cannot be evaluated in the prior art.
In a first aspect, an embodiment of the present invention provides a method for evaluating traffic light identification quality, including:
determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light identified by the traffic light identification algorithm and the color of the traffic light marked;
if the result is correct, calculating the overlapping rate of the bounding box of the traffic light identified by the traffic light identification algorithm and the bounding box of the labeled traffic light, and taking the overlapping rate as a first score;
counting the number of pixels of the pixels with the correct color identified by the traffic light identification algorithm, and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic light;
and determining the score of the traffic light identification quality according to the first score and the second score.
Further, the method further comprises:
and if the color identified by the traffic light identification algorithm is incorrect, determining the score of the traffic light identification quality as a preset score.
Further, determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light identified by the traffic light identification algorithm and the color of the traffic light labeled by the traffic light identification algorithm comprises:
obtaining a test data set, wherein the test data set comprises: the traffic light image and the color of the traffic light marked corresponding to the traffic light image;
adopting the traffic light identification algorithm to carry out traffic light identification on the traffic light image to obtain the color of the traffic light corresponding to the traffic light image;
and determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light corresponding to the traffic light image and the color of the labeled traffic light corresponding to the traffic light image.
Further, calculating the overlapping rate of the bounding box of the traffic light identified by the traffic light identification algorithm and the bounding box of the labeled traffic light comprises:
acquiring a surrounding frame of the traffic light, which is obtained by identifying the traffic light image by the traffic light identification algorithm;
calculating the intersection ratio of the identified surrounding frame of the traffic light and the corresponding marked surrounding frame of the traffic light;
the cross-over ratio is taken as the overlap ratio.
Further, calculating a second score according to the number of pixels and the total number of pixels of the corresponding traffic light, including:
calculating a ratio between the number of pixels and the total number of pixels;
taking the ratio as the second score.
Further, counting the number of pixels of the correct color identified by the traffic light identification algorithm includes:
acquiring a pixel position of a pixel to be identified, wherein the pixel position is determined according to a marked traffic light image;
determining a corresponding target pixel in the image to be detected according to the pixel position;
and counting the number of pixels of the colors of the traffic lights identified by the traffic light identification algorithm in the target pixels according to the HSV value of the target pixels.
Further, the method further comprises:
and if the score of the traffic light identification quality is smaller than a preset threshold value, performing optimization training on the traffic light identification algorithm.
In a second aspect, an embodiment of the present invention further provides an apparatus for evaluating traffic light identification quality, including:
the first determining unit is used for determining whether the color identified by the traffic light identification algorithm is correct or not according to the color of the traffic light identified by the traffic light identification algorithm and the color of the marked traffic light;
the calculation unit is used for calculating the overlapping rate of the surrounding frame of the traffic light identified by the traffic light identification algorithm and the surrounding frame of the labeled traffic light if the calculation unit is correct, and taking the overlapping rate as a first score;
the counting and calculating unit is used for counting the number of pixels of the pixels with the correct color identified by the traffic light identification algorithm and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic light;
and the second determining unit is used for determining the score of the traffic light identification quality according to the first score and the second score.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to any one of the above first aspects when executing the computer program.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing machine executable instructions, which when invoked and executed by a processor, cause the processor to perform the method of any of the first aspect.
In an embodiment of the present invention, a method for evaluating traffic light identification quality is provided, including: determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light identified by the traffic light identification algorithm and the color of the traffic light marked; if the result is correct, calculating the overlapping rate of the surrounding frame of the traffic light identified by the traffic light identification algorithm and the surrounding frame of the labeled traffic light, and taking the overlapping rate as a first score; meanwhile, counting the number of pixels of the pixels with the correct color identified by the traffic light identification algorithm, and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic light; and finally, determining the score of the traffic light identification quality according to the first score and the second score. According to the above description, the method for evaluating the traffic light identification quality can quantitatively judge the traffic light identification quality identified by the traffic light identification algorithm, so that the effectiveness of the traffic light identification algorithm is determined, and the technical problem that the identification quality of the traffic light cannot be judged in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an evaluation method for traffic light identification quality according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining whether a color identified by a traffic light identification algorithm is correct according to a color of a traffic light identified by the traffic light identification algorithm and a color of a traffic light labeled according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for calculating an overlap ratio between an enclosure of a traffic light identified by a traffic light identification algorithm and an enclosure of a labeled traffic light according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an evaluation apparatus for traffic light identification quality according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the identification quality of the traffic lights cannot be judged, and the effectiveness of a traffic light identification algorithm cannot be further determined.
Based on this, the embodiment provides an evaluation method for traffic light identification quality, which can quantitatively evaluate the traffic light identification quality identified by a traffic light identification algorithm, so as to determine the effectiveness of the traffic light identification algorithm.
Embodiments of the present invention are further described below with reference to the accompanying drawings.
The first embodiment is as follows:
in accordance with an embodiment of the present invention, there is provided an embodiment of a method for evaluating traffic light identification quality, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that presented herein.
Fig. 1 is a flowchart of a method for evaluating traffic light identification quality according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, determining whether the color identified by the traffic light identification algorithm is correct or not according to the color of the traffic light identified by the traffic light identification algorithm and the color of the labeled traffic light;
in the embodiment of the invention, the traffic light recognition algorithm is a traffic light recognition algorithm after training.
Step S104, if the result is correct, calculating the overlapping rate of the surrounding frame of the traffic light identified by the traffic light identification algorithm and the surrounding frame of the marked traffic light, and taking the overlapping rate as a first score;
step S106, counting the number of pixels of the pixels with the correct color identified by the traffic light identification algorithm, and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic lights;
and S108, determining the score of the traffic light identification quality according to the first score and the second score.
In an embodiment of the present invention, a method for evaluating traffic light identification quality is provided, including: determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light identified by the traffic light identification algorithm and the color of the traffic light marked; if the result is correct, calculating the overlapping rate of the surrounding frame of the traffic light identified by the traffic light identification algorithm and the surrounding frame of the labeled traffic light, and taking the overlapping rate as a first score; meanwhile, counting the number of pixels of the pixels with the correct color identified by the traffic light identification algorithm, and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic light; and finally, determining the score of the traffic light identification quality according to the first score and the second score. According to the above description, the method for evaluating the traffic light identification quality can quantitatively judge the traffic light identification quality identified by the traffic light identification algorithm, so that the effectiveness of the traffic light identification algorithm is determined, and the technical problem that the identification quality of the traffic light cannot be judged in the prior art is solved.
The above-mentioned contents briefly introduce the method for evaluating the traffic light identification quality of the present invention, and the details thereof are described in detail below.
In an optional embodiment of the invention, the method further comprises: and if the color identified by the traffic light identification algorithm is incorrect, determining the score of the traffic light identification quality as a preset score.
The preset score is a preset low score, and the preset score is not particularly limited in the embodiment of the present invention.
In an alternative embodiment of the present invention, referring to fig. 2, determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light identified by the traffic light identification algorithm and the color of the traffic light labeled by the traffic light identification algorithm specifically includes the following steps:
step S201, obtaining a test data set, wherein the test data set includes: the traffic light image and the color of the traffic light marked corresponding to the traffic light image;
step S202, carrying out traffic light identification on the traffic light image by adopting a traffic light identification algorithm to obtain the color of the traffic light corresponding to the traffic light image;
step S203, determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light corresponding to the traffic light image and the color of the traffic light labeled corresponding to the traffic light image.
In an alternative embodiment of the present invention, referring to fig. 3, the step of calculating the overlapping ratio between the bounding box of the traffic light identified by the traffic light identification algorithm and the bounding box of the labeled traffic light specifically includes the following steps:
s301, acquiring a traffic light surrounding frame obtained by identifying a traffic light image by a traffic light identification algorithm;
step S302, calculating the intersection ratio of the identified surrounding frame of the traffic light and the corresponding marked surrounding frame of the traffic light;
in step S303, the cross-over ratio is regarded as the overlap ratio.
In an optional embodiment of the present invention, the counting of the number of pixels of the correct color identified by the traffic light identification algorithm specifically includes the following steps:
(1) acquiring the pixel position of a pixel to be identified, wherein the pixel position is determined according to the marked traffic light image;
for example, if the labeled traffic light image is a traffic light image labeled with a red light, the pixel position of each pixel in the red light region is determined, that is, the pixel position of the pixel to be identified, and the labeled traffic light image may be the labeled traffic light image in the test data set.
(2) Determining a corresponding target pixel in the image to be detected according to the pixel position;
the image to be detected is an image to be detected corresponding to the marked traffic light image, that is, a traffic light image before marking of the marked traffic light image (the traffic light image which is not marked can be an image in the test data set), and the corresponding target pixel is a target pixel corresponding to the pixel position.
(3) And counting the number of pixels of the colors of the traffic lights identified by the traffic light identification algorithm in the target pixels according to the HSV value of the target pixels.
For example, if the traffic light identified by the traffic light identification algorithm is red, the number of pixels in the target pixel that are red pixels is counted according to the HSV value of the target pixel, that is, the number of pixels in the target pixel that are the pixels in the correct color identified by the traffic light identification algorithm.
In an optional embodiment of the present invention, the calculating the second score according to the number of pixels and the total number of pixels of the corresponding traffic light specifically includes the following steps:
A. calculating the ratio of the number of pixels to the total number of pixels;
B. the ratio is taken as the second score.
In an optional embodiment of the invention, after obtaining the score of the traffic light identification quality, the method further comprises:
and if the score of the traffic light identification quality is smaller than a preset threshold value, performing optimization training on the traffic light identification algorithm.
The evaluation method for the traffic light identification quality can quantitatively evaluate the traffic light identification quality identified by the traffic light identification algorithm, so that the effectiveness of the traffic light identification algorithm is determined, and the method is simple, efficient, convenient and quick.
Example two:
the embodiment of the invention also provides an evaluation device for the traffic light identification quality, which is mainly used for executing the evaluation method for the traffic light identification quality provided by the embodiment of the invention, and the evaluation device for the traffic light identification quality provided by the embodiment of the invention is specifically introduced below.
Fig. 4 is a schematic diagram of an apparatus for evaluating traffic light identification quality according to an embodiment of the present invention, and as shown in fig. 4, the apparatus mainly includes: a first determination unit 10, a calculation unit 20, a statistics-and-calculation unit 30 and a second determination unit 40, wherein:
the first determining unit is used for determining whether the color identified by the traffic light identification algorithm is correct or not according to the color of the traffic light identified by the traffic light identification algorithm and the color of the marked traffic light;
the calculation unit is used for calculating the overlapping rate of the surrounding frame of the traffic light identified by the traffic light identification algorithm and the surrounding frame of the labeled traffic light if the calculation unit is correct, and taking the overlapping rate as a first score;
the counting and calculating unit is used for counting the number of pixels of the pixels with the correct color identified by the traffic light identification algorithm and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic light;
and the second determining unit is used for determining the score of the traffic light identification quality according to the first score and the second score.
In an embodiment of the present invention, an evaluation apparatus for traffic light identification quality is provided, including: determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light identified by the traffic light identification algorithm and the color of the traffic light marked; if the result is correct, calculating the overlapping rate of the surrounding frame of the traffic light identified by the traffic light identification algorithm and the surrounding frame of the labeled traffic light, and taking the overlapping rate as a first score; meanwhile, counting the number of pixels of the pixels with the correct color identified by the traffic light identification algorithm, and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic light; and finally, determining the score of the traffic light identification quality according to the first score and the second score. According to the above description, the evaluation device for the traffic light identification quality can quantitatively judge the traffic light identification quality identified by the traffic light identification algorithm, so that the effectiveness of the traffic light identification algorithm is determined, and the technical problem that the identification quality of the traffic light cannot be judged in the prior art is solved.
Optionally, the apparatus is further configured to: and if the color identified by the traffic light identification algorithm is incorrect, determining the score of the traffic light identification quality as a preset score.
Optionally, the first determining unit is further configured to: acquiring a test data set, wherein the test data set comprises: the traffic light image and the color of the traffic light marked corresponding to the traffic light image; adopting a traffic light identification algorithm to carry out traffic light identification on the traffic light image to obtain the color of the traffic light corresponding to the traffic light image; and determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light corresponding to the traffic light image and the color of the traffic light labeled corresponding to the traffic light image.
Optionally, the computing unit is further configured to: acquiring a surrounding frame of the traffic light, which is obtained by identifying the traffic light image by a traffic light identification algorithm; calculating the intersection ratio of the identified surrounding frame of the traffic light and the corresponding marked surrounding frame of the traffic light; the cross-over ratio is taken as the overlap ratio.
Optionally, the statistics and calculation unit is further configured to: calculating the ratio of the number of pixels to the total number of pixels; the ratio is taken as the second score.
Optionally, the statistics and calculation unit is further configured to: acquiring the pixel position of a pixel to be identified, wherein the pixel position is determined according to the marked traffic light image; determining a corresponding target pixel in the image to be detected according to the pixel position; and counting the number of pixels of the colors of the traffic lights identified by the traffic light identification algorithm in the target pixels according to the HSV value of the target pixels.
Optionally, the apparatus is further configured to: and if the score of the traffic light identification quality is smaller than a preset threshold value, performing optimization training on the traffic light identification algorithm.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
As shown in fig. 5, an electronic device 600 provided in an embodiment of the present application includes: the traffic light identification quality evaluation method comprises a processor 601, a memory 602 and a bus, wherein the memory 602 stores machine readable instructions executable by the processor 601, when the electronic device runs, the processor 601 and the memory 602 communicate through the bus, and the processor 601 executes the machine readable instructions to execute the steps of the traffic light identification quality evaluation method.
Specifically, the memory 602 and the processor 601 can be general memories and processors, which are not limited to the specific embodiments, and the evaluation method of the traffic light identification quality can be executed when the processor 601 runs a computer program stored in the memory 602.
The processor 601 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 601. The Processor 601 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 602, and the processor 601 reads the information in the memory 602 and completes the steps of the method in combination with the hardware thereof.
Corresponding to the evaluation method for the traffic light identification quality, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores machine executable instructions, and when the computer executable instructions are called and executed by the processor, the computer executable instructions cause the processor to execute the steps of the evaluation method for the traffic light identification quality.
The evaluation device for the traffic light identification quality provided by the embodiment of the application can be specific hardware on the equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
For another example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing an electronic device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the vehicle marking method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the scope of the embodiments of the present application. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for evaluating the identification quality of traffic lights is characterized by comprising the following steps:
determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light identified by the traffic light identification algorithm and the color of the traffic light marked;
if the result is correct, calculating the overlapping rate of the bounding box of the traffic light identified by the traffic light identification algorithm and the bounding box of the labeled traffic light, and taking the overlapping rate as a first score;
counting the number of pixels of the pixels with the correct color identified by the traffic light identification algorithm, and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic light;
and determining the score of the traffic light identification quality according to the first score and the second score.
2. The method of claim 1, further comprising:
and if the color identified by the traffic light identification algorithm is incorrect, determining the score of the traffic light identification quality as a preset score.
3. The method of claim 1, wherein determining whether the color identified by the traffic light identification algorithm is correct based on the color of the traffic light identified by the traffic light identification algorithm and the color of the traffic light labeled comprises:
obtaining a test data set, wherein the test data set comprises: the traffic light image and the color of the traffic light marked corresponding to the traffic light image;
adopting the traffic light identification algorithm to carry out traffic light identification on the traffic light image to obtain the color of the traffic light corresponding to the traffic light image;
and determining whether the color identified by the traffic light identification algorithm is correct according to the color of the traffic light corresponding to the traffic light image and the color of the labeled traffic light corresponding to the traffic light image.
4. The method of claim 3, wherein calculating the overlap ratio of the bounding box of the traffic light identified by the traffic light identification algorithm to the bounding box of the labeled traffic light comprises:
acquiring a surrounding frame of the traffic light, which is obtained by identifying the traffic light image by the traffic light identification algorithm;
calculating the intersection ratio of the identified surrounding frame of the traffic light and the corresponding marked surrounding frame of the traffic light;
the cross-over ratio is taken as the overlap ratio.
5. The method of claim 1, wherein calculating a second score based on the number of pixels and a total number of pixels of the corresponding traffic light comprises:
calculating a ratio between the number of pixels and the total number of pixels;
taking the ratio as the second score.
6. The method of claim 1, wherein counting the number of pixels of the correct color identified by the traffic light identification algorithm comprises:
acquiring a pixel position of a pixel to be identified, wherein the pixel position is determined according to a marked traffic light image;
determining a corresponding target pixel in the image to be detected according to the pixel position;
and counting the number of pixels of the colors of the traffic lights identified by the traffic light identification algorithm in the target pixels according to the HSV value of the target pixels.
7. The method of claim 1, further comprising:
and if the score of the traffic light identification quality is smaller than a preset threshold value, performing optimization training on the traffic light identification algorithm.
8. An evaluation device for traffic light identification quality is characterized by comprising:
the first determining unit is used for determining whether the color identified by the traffic light identification algorithm is correct or not according to the color of the traffic light identified by the traffic light identification algorithm and the color of the marked traffic light;
the calculation unit is used for calculating the overlapping rate of the surrounding frame of the traffic light identified by the traffic light identification algorithm and the surrounding frame of the labeled traffic light if the calculation unit is correct, and taking the overlapping rate as a first score;
the counting and calculating unit is used for counting the number of pixels of the pixels with the correct color identified by the traffic light identification algorithm and calculating a second score according to the number of the pixels and the total number of the pixels of the corresponding traffic light;
and the second determining unit is used for determining the score of the traffic light identification quality according to the first score and the second score.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the method of any of claims 1 to 7.
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