CN114386239A

CN114386239A - Traffic signal lamp color mark correction method and device and edge calculation equipment

Info

Publication number: CN114386239A
Application number: CN202111508543.0A
Authority: CN
Inventors: 刘博�
Original assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2022-04-22

Abstract

The application discloses a traffic signal lamp color mark correction method, a traffic signal lamp color mark correction device and a storage medium, and relates to the technical field of intelligent traffic, in particular to the technical field of artificial intelligence such as automatic driving and computer vision. The specific implementation scheme is as follows: the method comprises the steps of obtaining marking data of a traffic signal lamp image, determining the relative position of a lamp frame and a lighting lamp cap in the traffic signal lamp image according to the marking data, determining the light color real value of the lighting lamp cap based on the relative position, and correcting the light color marking value of the lighting lamp cap into the light color real value in response to the fact that the light color real value is different from the light color marking value. The traffic signal lamp color marking method and device have the advantages that the wrong traffic signal lamp color marking is recognized and corrected, accuracy of the traffic signal lamp color marking is improved, labor cost is saved, and correction efficiency of the lamp color marking is improved.

Description

Traffic signal lamp color mark correction method and device and edge calculation equipment

Technical Field

The application relates to the technical field of intelligent traffic, in particular to the technical field of artificial intelligence such as automatic driving and computer vision, and particularly relates to a traffic signal lamp color mark correction method, a device and a storage medium.

Background

In the related art, in order for the model to learn to recognize the light color of the traffic signal in the image, the light color of the traffic signal in the image needs to be labeled before the model is trained, and the labeled light color information is used as a training target of the model. However, the manual labeling of the image is affected by factors such as unclear imaging of the image, light reflection of a lamp cap of a traffic signal lamp and the like, so that the color labeling of the lamp is easy to be wrong, and the training of the model is affected.

Disclosure of Invention

The application provides a traffic signal lamp color mark correction method, a traffic signal lamp color mark correction device and a storage medium.

According to a first aspect of the application, a method for correcting a traffic signal lamp color mark is provided, which comprises the following steps:

acquiring marking data of a traffic signal lamp image; the marking data comprise a lamp color marking value for lighting the lamp cap;

determining the relative position of a lamp frame and the lighted lamp cap in the traffic signal lamp image according to the labeling data;

determining the true light color value of the lighted lamp cap based on the relative position;

and correcting the light color marked value of the lightened lamp holder to be the light color real value in response to the fact that the light color real value is different from the light color marked value.

According to a second aspect of the present application, there is provided a traffic signal lamp color mark correction device, comprising:

the acquisition module is used for acquiring the label data of the traffic signal lamp image; the marking data comprise a lamp color marking value for lighting the lamp cap;

the first determining module is used for determining the relative positions of the lamp frame and the lighted lamp cap in the traffic signal lamp image according to the marking data;

the second determination module is used for determining the true value of the light color of the lighted lamp cap based on the relative position;

and the correcting module is used for correcting the light color marking value of the lightened lamp holder to be the light color real value in response to that the light color real value is different from the light color marking value.

According to a third aspect of the present application, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.

According to a fifth aspect of the present application, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the steps of the brain electrical signal processing method of any one of claims 1 to 7.

According to a sixth aspect of the application, there is provided an edge computing device comprising the electronic device according to the third aspect.

According to the technical scheme, the real lamp color of the lighted lamp cap can be determined according to the relative position of the lighted lamp cap and the lamp frame, so that the wrong traffic signal lamp color mark is identified and corrected, the accuracy of the traffic signal lamp color mark is improved, the labor cost is saved, and the correction efficiency of the lamp color mark is improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

FIG. 1 is a schematic diagram according to a first embodiment of the present application;

FIG. 2 is a schematic diagram according to a second embodiment of the present application;

FIG. 3 is a schematic illustration according to a third embodiment of the present application;

FIG. 4 is a schematic view of a traffic signal image according to a third embodiment of the present application;

FIG. 5 is a schematic diagram of region block division proposed according to a third embodiment of the present application;

FIG. 6 is a schematic illustration according to a fourth embodiment of the present application;

FIG. 7 is a schematic illustration according to a fifth embodiment of the present application;

FIG. 8 is a schematic view of a bright lamp head shape according to a fifth embodiment of the present application;

FIG. 9 is a schematic illustration according to a sixth embodiment of the present application;

FIG. 10 is a schematic illustration according to a seventh embodiment of the present application;

FIG. 11 is a schematic view of a traffic signal light having two lighted lampheads according to a seventh embodiment of the present application;

FIG. 12 is a schematic view of an eighth embodiment according to the present application;

FIG. 13 is a schematic illustration of a ninth embodiment according to the present application;

FIG. 14 is a schematic illustration in accordance with a tenth embodiment of the present application;

FIG. 15 is a schematic illustration according to an eleventh embodiment of the present application;

FIG. 16 is a block diagram of an electronic device for implementing the method for correcting the color marking of the traffic signal lamp according to the embodiment of the present application;

fig. 17 is a block diagram of an edge computing device for implementing the traffic signal light color labeling correction method according to the embodiment of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the related art, in order for the model to learn to recognize the light color of the traffic signal in the image, the light color of the traffic signal in the image needs to be labeled before the model is trained, and the labeled light color information is used as a training target of the model. However, the manual labeling of the image is affected by factors such as unclear imaging of the image, light reflection of a lamp cap of a traffic signal lamp and the like, so that the color labeling of the lamp is easy to be wrong, and the training of the model is affected. Therefore, how to obtain correct light color information becomes an urgent problem to be solved.

Based on the above problems, the application provides a traffic signal lamp color mark correction method, a traffic signal lamp color mark correction device and a storage medium, which can realize that according to the technical scheme of the application, the true lamp color of the lighted lamp head is determined based on the relative position of the lighted lamp head and the lamp frame, so that the identification and correction of the wrong traffic signal lamp color mark are realized, the accuracy of the traffic signal lamp color mark is further improved, the labor cost is saved, and the correction efficiency of the lamp color mark is improved.

Fig. 1 is a schematic diagram according to a first embodiment of the present application. It should be noted that the method for correcting the color marking of the traffic signal lamp in the embodiment of the present application can be used in the device for correcting the color marking of the traffic signal lamp in the embodiment of the present application, and the device can be configured in an electronic device. As shown in fig. 1, the method for correcting the color marking of the traffic light comprises the following steps:

step 101, acquiring the labeling data of the traffic signal lamp image.

In the embodiment of the present application, the annotation data may include, but is not limited to, a light color annotation value for lighting a lamp head.

It should be noted that, in some embodiments of the present application, the traffic signal lamp image may be obtained by photographing the traffic signal lamp with a camera, or may be obtained by photographing the traffic signal lamp with a camera that is only capable of traffic. The labeling data can be obtained by manually labeling the traffic light image, or can be obtained by automatically labeling the traffic light image by other means (such as a labeling model).

In some embodiments of the present application, the lighted lighthead may be a lighthead that is lighted for a traffic signal in a traffic signal image.

It is understood that each head of a traffic signal lamp has a corresponding lamp color. As one possible example, the annotation data may include, but is not limited to, a light color annotation value for a lighted head, such as a manually annotated light color for a lighted head.

And step 102, determining the relative positions of the lamp frame and the lighting lamp head in the traffic signal lamp image according to the labeling data.

It can be understood that each traffic signal lamp has a lamp frame, a plurality of lamp heads are installed on the lamp frame, different lamp heads are lighted to represent different traffic signals, and the positions of the lamp heads with different lamp colors on the lamp frame are usually fixed.

As a possible example, according to the labeling data, the respective position information of the lamp frame and the lighting head in the traffic signal image can be obtained, and according to the position information, the relative position of the lamp frame and the lighting head in the traffic signal image can be determined.

And 103, determining the true value of the light color of the lighted lamp cap based on the relative position.

It should be noted that the true value of the light color for lighting the lamp cap may be the true light color for lighting the lamp cap.

It can be understood that the arrangement sequence of the lamp heads with different lamp colors of the traffic signal lamp is fixed, so that the real value of the lamp color of the lighted lamp head can be determined according to the relative position of the lamp frame and the lighted lamp head in the traffic signal lamp image.

And 104, in response to the fact that the lamp color real value is different from the lamp color marked value, correcting the lamp color marked value of the lighted lamp holder to be the lamp color real value.

It is understood that in response to the actual lamp color value being different from the lamp color labeled value, the lamp color labeled value is said to be erroneous, and therefore, the lamp color labeled value illuminating the lamp head is corrected to the actual lamp color value.

In some embodiments of the present application, the current light color marking value is maintained in response to the actual light color value being the same as the light color marking value.

According to the traffic signal lamp light color marking correction method, marking data of a traffic signal lamp image are obtained, the relative position of a lamp frame and a lighting lamp cap in the traffic signal lamp image is determined according to the marking data, the light color true value of the lighting lamp cap is determined based on the relative position, and the light color marking value of the lighting lamp cap is corrected to be the light color true value in response to the fact that the light color true value is different from the light color marking value, so that the identification and correction of wrong traffic signal lamp light color marking are achieved, the accuracy of the traffic signal lamp light color marking is improved, the labor cost is saved, and the correction efficiency of the light color marking is improved.

In order to further ensure the accuracy of the real value of the light color, optionally, the relative position of the lamp frame and the lighted lamp cap is determined according to the area coordinate of the lamp frame and the area coordinate of the lighted lamp cap, and the real value of the light color of the lighted lamp cap is determined according to the relative position. Fig. 2 is a schematic diagram according to a second embodiment of the present application. It should be noted that the method for correcting the color marking of the traffic signal lamp in the embodiment of the present application can be executed by the device for correcting the color marking of the traffic signal lamp in the embodiment of the present application. In some embodiments of the present application, as shown in fig. 2, the method for correcting a color marking of a traffic signal lamp includes:

step 201, obtaining the labeling data of the traffic signal lamp image.

In some embodiments of the present application, the annotation data can also include, but is not limited to, the number of lightheads included in the lighthead. As an example of one possible implementation, after the obtaining of the annotation data of the traffic signal light image, the following steps may be further included: according to the labeling data, the number of lamp holders contained in the lamp frame is determined, the preset number of correctable lamp holders is obtained, the determined number of lamp holders is compared with the number of correctable lamp holders, and in response to the fact that the number of lamp holders in the lamp frame obtained through the determination of the labeling data is contained in the number of correctable lamp holders, the current situation is considered to be suitable for the traffic signal lamp color labeling correction scheme provided by the embodiment of the application, and the step of obtaining the area coordinates of the lamp frame according to the labeling data can be executed.

For example, it is determined that the traffic signal lamp with the preset correctable lamp cap number of 2 or 3, that is, the lamp cap number of 2 or the lamp cap number of 3, can perform the lamp color marking correction through the scheme of the present application. And determining that the number of the lamp holders in the traffic signal lamp image is 3 according to the labeling data, and executing the step of acquiring the region coordinates of the lamp frame according to the labeling data. And if the number of the lamp holders in the traffic signal lamp image is determined to be 4, stopping the traffic signal lamp color marking correction process.

It should be noted that, in some embodiments of the present invention, the lamp bases in the lamp frame may be arranged in a transverse direction, or may be arranged in a longitudinal direction, which is not limited in this application.

And step 202, acquiring the area coordinates of the lamp frame according to the marking data.

In the embodiment of the present application, the annotation data may further include, but is not limited to, coordinates of a region of the lamp housing and coordinates of a region of each lamp head in the lamp housing.

As one possible example, in the annotation data, the region coordinates of the lamp frame are acquired. It is understood that the above-mentioned area coordinates may be a pixel coordinate area of the lamp frame in the traffic signal image. As an example of an implementation manner, pixel coordinates of four end points of the light frame may be determined, and an area formed by connecting the pixel coordinates of the four end points is a pixel coordinate area of the light frame.

For example, a coordinate system is established by taking the upper left corner of the traffic light image as the origin of coordinates, the coordinates of the endpoint of the upper left corner of the lamp frame are determined to be (100 ), the coordinates of the endpoint of the upper right corner are determined to be (100,150), the coordinates of the endpoint of the lower left corner are determined to be (200,100), the coordinates of the endpoint of the lower right corner are determined to be (200,150), and the region formed by connecting the coordinates of the four endpoints is the pixel coordinate region of the lamp frame.

And step 203, acquiring the area coordinates of the lighted lamp caps according to the area coordinates of each lamp cap in the labeling data.

It can be understood that the method for determining the area coordinates of each lamp holder is the same as the method for determining the area coordinates of the lamp frame, and details are not described herein.

And step 204, determining the relative position of the lamp frame and the lighted lamp cap according to the area coordinate of the lamp frame and the area coordinate of the lighted lamp cap.

It can be understood that the area coordinate of the lighting lamp holder is included in the area coordinate of the lamp frame, and the lighting lamp holder and the lamp frame have a position relation, so that the relative position of the lamp frame and the lighting lamp holder can be determined according to the area coordinate of the lamp frame and the area coordinate of the lighting lamp holder.

And step 205, determining the true value of the light color of the lighted lamp cap based on the relative position.

In the embodiment of the present application, step 205 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And step 206, responding to the difference between the light color real value and the light color marked value, and correcting the light color marked value of the lighted lamp holder to be the light color real value.

In the embodiment of the present application, step 206 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

According to the traffic signal lamp color marking correction method, the area coordinates of the lamp frame are obtained according to the marking data, the area coordinates of the lighting lamp heads are obtained according to the area coordinates of the lamp heads in the marking data, and the relative positions of the lamp frame and the lighting lamp heads are determined according to the area coordinates of the lamp frame and the area coordinates of the lighting lamp heads, so that the lamp color real value of the lighting lamp heads can be determined according to the relative positions, and the accuracy of the lamp color real value is improved.

In order to ensure the accuracy of calculating the relative position between the lamp frame and the lighted lamp head, optionally, the center point coordinate of the lighted lamp head is determined, and the area block where the lighted lamp head is located is determined according to the center point coordinate. Fig. 3 is a schematic diagram according to a third embodiment of the present application. It should be noted that the method for correcting the color marking of the traffic signal lamp in the embodiment of the present application can be executed by the device for correcting the color marking of the traffic signal lamp in the embodiment of the present application. In some embodiments of the present application, as shown in fig. 3, the method for correcting a color marking of a traffic signal lamp includes:

step 301, obtaining the labeling data of the traffic signal lamp image.

In the embodiment of the present application, step 301 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And step 302, acquiring the area coordinates of the lamp frame according to the labeling data.

In the embodiment of the present application, step 302 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And 303, acquiring the area coordinates of the lighted lamp caps according to the area coordinates of each lamp cap in the labeling data.

In the embodiment of the present application, step 303 may be implemented by respectively adopting any one of the embodiments of the present application, and this is not limited in this embodiment of the present application and is not described again.

And step 304, dividing the coordinate area of the lamp frame into a plurality of area blocks according to the area coordinates of the lamp frame.

As a possible example, the area of the lamp frame in the traffic signal lamp image may be determined according to the area coordinates of the lamp frame, and the lamp frame is divided into a plurality of area blocks according to the area of the lamp frame, wherein each area block corresponds to one lamp head.

For example, as shown in fig. 4 and 5, in the traffic light image 401, the coordinates of the upper left end point of the lamp frame 404 are (100 ), the coordinates of the upper right end point are (100,150), the coordinates of the lower left end point are (190,100), and the coordinates of the lower right end point are (190,150), and the coordinates of the four end points are connected to form a coordinate area 501 of the lamp frame. The lamp holder is provided with three lamp holders of a red lamp 402, a yellow lamp 403 and a green lamp 405, a coordinate area 501 of the lamp holder is divided into a first area block 502, a second area block 503 and a third area block 504 according to the area coordinates, the coordinates of four end points of the first area block 502 are respectively (100 ), (100,150), (130,100), (130,150), the coordinates of four end points of the second area block 503 are respectively (130,100), (130,150), (160,100), (160,150), and the coordinates of four end points of the third area block 504 are respectively (160,100), (160,150), (190,100) and (190,150).

And 305, determining the coordinates of the central point of the lighted lamp head according to the coordinates of the area of the lighted lamp head.

As an example of one possible implementation manner, coordinates of four end points of an area where the light-up lamp holder is located are determined according to coordinates of the area where the light-up lamp holder is located, and coordinates of a center point of the light-up lamp holder are obtained according to the coordinates of the four end points.

For example, if the coordinates of the four end points of the lighted lighthead are determined to be (100 ), (100,152), (132,100), (100,152), the coordinates of the center point can be determined to be (116, 126).

And step 306, determining the area block where the lighting lamp head is located according to the central point coordinates to obtain the relative position of the lamp frame and the lighting lamp head.

It should be noted that, because the manually marked area coordinate of the lighted lamp holder has an overlapping portion with the coordinate area of the divided area block, but the coordinates of the four end point coordinate area blocks of the area coordinate of the lighted lamp holder may not completely coincide with the coordinates of the four end points, the center point coordinate of the lighted lamp holder is determined according to the area coordinate of the lighted lamp holder, and the center point coordinate is included in the coordinate area of the area block where the lighted lamp holder is located, so that the area block where the lamp holder is located can be found more accurately, and the accuracy of determining the relative position of the lamp frame and the lighted lamp holder is further improved.

For example, if the coordinates of the four end points of the lighted base are determined to be (100 ), (100,152), (132,100) and (100,152) in sequence, and the coordinates of the four end points of the lighted base seated in the area block are (100 ), (100,150), (130,100), (130 and 150), respectively, most of the areas of the lighted base fall into the area block but do not completely coincide with each other, the coordinates of the center point of the lighted base are determined to be (116 and 126), and the center point completely falls into the area block, so that the area block in which the lighted base is located can be accurately judged to be the area block, and the accuracy of determining the relative position of the lamp frame and the lighted base is further improved.

As shown in fig. 4 and 5, in the traffic light image 401, the currently lit light head is the red light 402, the yellow light 403 and the green light 405 are extinguished, and the area block in which the red light 402 is located is determined as the first area block 501 according to the coordinates of the center point of the red light 402, so that the relative position of the red light 402 and the lamp frame 401 is determined.

And 307, determining the true value of the light color of the lighted lamp cap based on the relative position.

In the embodiment of the present application, step 307 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And 308, in response to that the light color real value is different from the light color marked value, correcting the light color marked value of the lighted lamp holder to be the light color real value.

In the embodiment of the present application, step 308 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

According to the traffic signal lamp color marking correction method, the coordinate area of the lamp frame is divided into the plurality of area blocks according to the area coordinates of the lamp frame, the central point coordinates of the lighting lamp head are determined according to the area coordinates of the lighting lamp head, the area block where the lighting lamp head is located is determined according to the central point coordinates, and the relative position of the lamp frame and the lighting lamp head is obtained, so that the area block where the lighting lamp head is located can be accurately judged, and the accuracy of determining the relative position of the lamp frame and the lighting lamp head is improved.

In order to be able to increase the accuracy of determining the lamp color of the lighted lamp cap, optionally, the true value of the lamp color of the lighted lamp cap is determined according to the relative position and the traffic signal lamp color position setting rule. Fig. 6 is a schematic diagram according to a fourth embodiment of the present application. It should be noted that the method for correcting the color marking of the traffic signal lamp in the embodiment of the present application can be executed by the device for correcting the color marking of the traffic signal lamp in the embodiment of the present application. In some embodiments of the present application, as shown in fig. 6, the method for correcting a color label of a traffic signal lamp includes:

step 601, obtaining the marking data of the traffic signal lamp image.

In the embodiment of the present application, step 601 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And step 602, determining the relative positions of the lamp frame and the lighting lamp cap in the traffic signal lamp image according to the labeling data.

In the embodiment of the present application, step 602 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

Step 603, determining the true value of the light color of the lighted lamp cap according to the relative position and the setting rule of the light color position of the traffic signal lamp.

The traffic light color position setting rule is preset based on the traffic rule and the traffic light setting rule. For example, according to the setting rule of the traffic signal lamp, the traffic signal lamp comprises three lamp caps, if the three lamp caps are all round cakes, the three lamp caps are respectively a red lamp, a yellow lamp and a green lamp, and the three lamp caps are arranged in sequence of the red lamp, the yellow lamp and the green lamp; the traffic signal lamp comprises two lamp caps, if the two lamp caps are round cakes, the two lamp caps are respectively a red lamp and a green lamp, and the two lamp caps are arranged in sequence of the red lamp and the green lamp.

As a possible example, if the position of the currently lighted base is the same as the position of the red light in the traffic signal lamp color position setting rule described above, the true value of the light color of the lighted base is determined to be red.

As one possible example, the true value of the light color of the lighted lamp head is determined according to the relative positions of the lamp frame and the lighted lamp head, and the traffic signal lamp color position setting rule.

For example, as shown in fig. 4, for a traffic signal including three light heads, according to the traffic signal light color position setting rule, the three light heads are a red light 402, a yellow light 403 and a green light 405, and the arrangement order of the light heads is the red light 402, the yellow light 403 and the green light 405 in sequence. According to the relative position relationship, the relative position of the current lighting lamp holder and the lamp frame 404 is determined, namely the position of the first lamp holder of the current lighting lamp holder in the lamp frame 404, so that the true value of the lamp color of the lighting lamp holder can be determined to be red.

And step 604, correcting the light color marked value of the lighted lamp cap to be the light color real value in response to the fact that the light color real value is different from the light color marked value.

In the embodiment of the present application, step 604 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

According to the traffic signal lamp color marking correction method, the real value of the lamp color of the lighting lamp head is determined according to the relative position and the traffic signal lamp color position setting rule, and therefore the accuracy of determining the lamp color of the lighting lamp head can be improved.

In order to improve the efficiency of the traffic signal lamp color mark correction, optionally, according to the shape of the lighting lamp head, it is determined whether the step of determining the true value of the lamp color of the lighting lamp head based on the relative position needs to be executed. Fig. 7 is a schematic diagram according to a fifth embodiment of the present application. It should be noted that the method for correcting the color marking of the traffic signal lamp in the embodiment of the present application can be executed by the device for correcting the color marking of the traffic signal lamp in the embodiment of the present application. In some embodiments of the present application, as shown in fig. 7, the method for correcting a color marking of a traffic signal lamp includes:

and 701, acquiring the marking data of the traffic signal lamp image.

In the embodiment of the present application, step 701 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And step 702, determining the relative position of the lamp frame and the lighting lamp head in the traffic signal lamp image according to the labeling data.

In the embodiments of the present application, step 702 may be implemented by any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And 703, determining the true value of the light color of the lighted lamp cap based on the relative position.

In the embodiment of the present application, step 703 may be implemented by any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

Step 704, obtaining a preset lamp head shape.

It should be noted that the shape displayed in the lamp head of the traffic signal lamp may be an arrow, a pie, a countdown number, or the like, and when the countdown number is displayed in the lamp head, the color of the lamp head does not have the meaning of signal indication, and the color of the lamp head does not need to be corrected. Therefore, it is desirable to preset the base shape, and optionally, the countdown number is not included in the preset base shape.

Step 705, determining the shape of the lighting lamp head in the lamp frame according to the marking data.

It can be understood that the shape of the lighting head in the lamp frame is included in the labeling data, and the shape data of the lighting head can be obtained from the labeling data. As a possible example, the shape of the lighted lamp head may be an arrow, a pie, or a countdown number.

And step 706, responding to the condition that the shape of the lighting lamp holder in the lamp frame is the same as the preset lamp holder shape, and determining the true value of the lamp color of the lighting lamp holder based on the relative position.

As one possible example, in response to the shape of the lighted base in the lamp frame being the same as the preset base shape, it is determined that the light color of the lighted base can be corrected, and based on the relative position, the true value of the light color of the lighted base is determined.

For example, as shown in fig. 8, the shapes of the light heads are preset to be an arrow and a pie, if the shape of the light head in the light frame 804 is an arrow 801 or a pie 802, it is determined that the light color of the light head can be corrected, and if the shape of the light head in the light frame is a countdown number 803, it is determined that the subsequent step of correcting the light color of the light head is stopped.

And step 707, in response to that the light color real value is different from the light color marked value, correcting the light color marked value of the lighted lamp cap to be the light color real value.

According to the traffic signal lamp color mark correction method, the preset lamp cap shape is obtained, the shape of the lighting lamp cap in the lamp frame is determined according to mark data, the real value of the lamp color of the lighting lamp cap is determined based on the relative position in response to the fact that the shape of the lighting lamp cap in the lamp frame is the same as the preset lamp cap shape, and therefore whether the lamp color of the lighting lamp cap needs to be corrected or not can be determined, and the traffic signal lamp color mark correction efficiency is improved.

In order to further ensure the accuracy of the shape recognition of the lighted lamp caps, optionally, the number of the lighted lamp caps in the lamp frame is determined according to the labeled data, and in response to the number of the lighted lamp caps in the lamp frame being two, the respective shapes of the first lighted lamp cap and the second lighted lamp cap are respectively determined. Fig. 9 is a schematic diagram according to a sixth embodiment of the present application. It should be noted that the method for correcting the color marking of the traffic signal lamp in the embodiment of the present application can be executed by the device for correcting the color marking of the traffic signal lamp in the embodiment of the present application. In some embodiments of the present application, as shown in fig. 9, the method for correcting a color label of a traffic signal lamp includes:

step 901, obtaining the labeling data of the traffic signal lamp image.

In the embodiment of the present application, step 901 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And step 902, determining the relative position of the lamp frame and the lighting lamp cap in the traffic signal lamp image according to the labeling data.

In the embodiment of the present application, step 902 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And step 903, determining the true value of the light color of the lighted lamp cap based on the relative position.

In the embodiments of the present application, step 903 may be implemented by any one of the embodiments of the present application, and this is not limited in this embodiment of the present application and is not described again.

And 904, acquiring a preset lamp cap shape.

In the embodiment of the present application, step 904 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And step 905, determining the number of the lighted lamp heads in the lamp frame according to the marking data.

In some cases, a plurality of bases may be lighted simultaneously in the same lamp frame, and therefore, the number of lighted bases needs to be labeled. For example, a yellow light and a green light are simultaneously lit, indicating that the green light is going to be extinguished and the red light is going to be lit; the yellow light and the red light are simultaneously lighted, indicating that the red light is going to be extinguished. The green light is about to light; the green light and the lamp head displaying the countdown are simultaneously lighted, and the countdown indicates the duration of the current green light.

As one possible example, the annotation data may include, but is not limited to, the number of lighted light heads in the light frame, which may be obtained from the annotation data.

And step 906, responding to the number of the lighting lamp heads in the lamp frame being two, and respectively determining the shapes of the first lighting lamp head and the second lighting lamp head.

As one possible example, the number of the lighted caps in the lamp frame is determined to be two, and for convenience of description, one of the lighted caps may be referred to as a first lighted cap and the other lighted cap may be referred to as a second lighted cap. The shape of the first light-up lamp cap and the shape of the second light-up lamp cap are respectively determined.

In some embodiments of the present application, the shape of the lighted lamphead is determined in response to the number of lighted lampheads in the bezel being one.

In some embodiments of the present application, in response to the number of the lighted caps in the lamp frame being zero or three or more, the shape of the lighted caps is not confirmed.

Step 907, determining the true value of the light color of the lighted lamp cap based on the relative position in response to that the shape of the lighted lamp cap in the lamp frame is the same as the preset lamp cap shape.

In the embodiment of the present application, step 907 may be implemented by any one of the embodiments of the present application, and this is not limited in this embodiment of the present application and is not described again.

And 908, correcting the light color marked value of the lighted lamp holder to be the light color real value in response to the light color real value being different from the light color marked value.

According to the traffic signal lamp color marking correction method, the number of the lighting lamp heads in the lamp frame is determined according to the marking data, and the shapes of the first lighting lamp head and the second lighting lamp head are respectively determined in response to the fact that the number of the lighting lamp heads in the lamp frame is two, so that the shape determination of each lamp head which is simultaneously lighted is achieved, and the accuracy of the shape recognition of the lighting lamp heads is improved.

In order to further ensure the accuracy of the correction of the color marking of the traffic signal lamp, optionally, the shapes of two lamp holders which are simultaneously lighted in the same lamp frame are respectively determined. Fig. 10 is a schematic diagram of a seventh embodiment according to the present application. It should be noted that the method for correcting the color marking of the traffic signal lamp in the embodiment of the present application can be executed by the device for correcting the color marking of the traffic signal lamp in the embodiment of the present application. In some embodiments of the present application, as shown in fig. 10, the method for correcting a color marking of a traffic signal lamp includes:

step 1001, acquiring the labeling data of the traffic signal lamp image.

In the embodiment of the present application, step 1001 may be implemented by any one of the embodiments of the present application, and this is not limited in this embodiment of the present application and is not described again.

Step 1002, determining the relative position of the lamp frame and the lighting lamp head in the traffic signal lamp image according to the labeling data.

In the embodiment of the present application, step 1002 may be implemented by any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And 1003, determining the true light color value of the lighted lamp cap based on the relative position.

In the embodiment of the present application, step 1003 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And step 1004, acquiring a preset lamp cap shape.

In the embodiment of the present application, step 1004 may be implemented by using any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

And 1005, determining the number of the lighted lamp heads in the lamp frame according to the marking data.

In the embodiment of the present application, step 1005 may be implemented by any one of the embodiments of the present application, which is not limited in this embodiment and is not described again.

Step 1006, in response to the number of the lighted lamp caps in the light frame being two, determining respective shapes of the first lighted lamp cap and the second lighted lamp cap, respectively.

In the embodiment of the present application, step 1006 may be implemented by using any one of the embodiments of the present application, and this is not limited in this embodiment of the present application and is not described again.

Step 1007, in response to that the shape of the first lighting lamp holder is not included in the preset lamp holder shape and the shape of the second lighting lamp holder is included in the preset lamp holder shape, stopping correcting the lamp color marking value of the first lighting lamp holder, and determining the lamp color true value of the second lighting lamp holder based on the relative position of the lamp frame and the second lighting lamp holder.

As one possible example, in response to the shape of the first lighted lamp cap not being included in the preset lamp cap shape and the shape of the second lighted lamp cap being included in the preset lamp cap shape, it can be determined to stop the correction of the lamp color notation value of the first lighted lamp cap, and the lamp color true value of the second lighted lamp cap is determined based on the relative position of the bezel and the second lighted lamp cap.

For example, as shown in fig. 11, the preset base shapes are an arrow and a pie, the number of the lighted bases in the light frame 1101 is determined to be two, the first lighted base 1103 is shaped as a pie, the first lighted base 1103 is shaped to be included in the preset base shape, the second lighted base 1102 is shaped as a number, and the second lighted base 1102 is not shaped to be included in the preset base shape, at this time, the light color true value of the second lighted base 1103 is determined only based on the relative positions of the light frame 1101 and the second lighted base 1103, and the light color true value of the first lighted base 1102 is stopped being determined.

In some embodiments of the present application, in response to the shape of the first lamp cap and the shape of the second lighted lamp cap both being included in the preset lamp cap shape, the true light color value of the first lighted lamp cap is determined based on the relative position of the lamp frame and the first lighted lamp cap, and the true light color value of the second lighted lamp cap is determined based on the relative position of the lamp frame and the second lighted lamp cap.

Step 1008, in response to that the light color real value of the second lighted lamp head is different from the light color labeled value of the second lighted lamp head, correcting the light color labeled value of the second lighted lamp head to the light color real value.

According to the traffic signal lamp color mark correction method, in response to the fact that the shape of the first lighting lamp cap is not included in the preset lamp cap shape and the shape of the second lighting lamp cap is included in the preset lamp cap shape, correction of the lamp color mark value of the first lighting lamp cap is stopped, and the lamp color real value of the second lighting lamp cap is determined based on the relative position of the lamp frame and the second lighting lamp cap, so that the lamp color correction can be performed on the condition that countdown occurs in the lamp frame, and the accuracy of traffic signal lamp color mark correction is improved.

In order to realize the above embodiments, the present application provides a traffic signal lamp color marking correction device.

Fig. 12 is a schematic diagram according to an eighth embodiment of the present application. As shown in fig. 12, the apparatus includes: an acquisition module 1201, a first determination module 1202, a second determination module 1203, and a correction module 1204.

The acquiring module 1201 is used for acquiring the label data of the traffic signal lamp image; wherein the annotation data may include, but is not limited to, a light color annotation value that lights the light head.

The first determining module 1202 is configured to determine the relative position of the lamp frame and the lighted lamp head in the traffic signal lamp image according to the annotation data.

And a second determining module 1203, configured to determine a true value of the light color of the lighted lamp head based on the relative position.

And a correcting module 1204, configured to correct the light color labeled value of the lighted lamp cap to the light color real value in response to that the light color real value is different from the light color labeled value.

According to the traffic signal lamp light color marking correction device, marking data of a traffic signal lamp image are obtained, the relative position of the lamp frame and the lighting lamp head in the traffic signal lamp image is determined according to the marking data, the light color true value of the lighting lamp head is determined based on the relative position, and the light color marking value of the lighting lamp head is corrected to be the light color true value in response to the fact that the light color true value is different from the light color marking value, so that the identification and correction of wrong traffic signal lamp light color marking are achieved, the accuracy of the traffic signal lamp light color marking is improved, the labor cost is saved, and the correction efficiency of the light color marking is improved.

Fig. 13 is a schematic diagram of a ninth embodiment according to the present application. As shown in fig. 13, the traffic signal lamp color mark correcting device includes: an acquisition module 1310, a first determination module 1320, a second determination module 1330, and a correction module 1340; wherein the first determining module 1320 includes: a first acquisition submodule 1321, a second acquisition submodule 1322 and a first determination submodule 1323.

The obtaining module 1310 is configured to obtain annotation data of the traffic signal light image.

The first determining module 1320 is configured to determine a relative position between the light frame and the lighted light head in the traffic signal light image according to the labeling data.

The annotation data may further include, but is not limited to, coordinates of an area of the lamp housing and coordinates of an area of each lamp head in the lamp housing, wherein the first determining module 1320 includes:

and the first obtaining submodule 1321 is configured to obtain the area coordinates of the lamp frame according to the labeling data.

And the second obtaining sub-module 1322 is configured to obtain the area coordinates of the lighted lamp caps according to the area coordinates of each lamp cap in the labeling data.

And the first determining submodule 1323 is configured to determine the relative position of the lamp holder and the lighted lamp holder according to the area coordinate of the lamp holder and the area coordinate of the lighted lamp holder.

In this embodiment, the first determining submodule 1323 is specifically configured to:

dividing a coordinate area of the lamp frame into a plurality of area blocks according to the area coordinate of the lamp frame;

determining the coordinates of the central point of the lighted lamp cap according to the coordinates of the area of the lighted lamp cap;

and determining the area block where the lighting lamp holder is located according to the coordinates of the central point to obtain the relative position of the lamp frame and the lighting lamp holder.

A second determining module 1330 configured to determine a true value of the color of the light that illuminates the lamp head based on the relative position.

And the correcting module 1340 is used for correcting the light color marked value of the lighted lamp cap into the light color real value in response to the light color real value and the light color marked value being different.

According to the traffic signal lamp color marking correction device, the area coordinates of the lamp frame are obtained according to the marking data, the area coordinates of the lighting lamp heads are obtained according to the area coordinates of the lamp heads in the marking data, and the relative positions of the lamp frame and the lighting lamp heads are determined according to the area coordinates of the lamp frame and the area coordinates of the lighting lamp heads, so that the lamp color real value of the lighting lamp heads can be determined according to the relative positions, and the accuracy of the lamp color real value is improved. In addition, the center point coordinate of the lighted lamp holder is determined, and the area block where the lighted lamp holder is located is determined according to the center point coordinate, so that the accuracy of calculating the relative position of the lamp frame and the lighted lamp holder is guaranteed.

Fig. 14 is a schematic diagram according to a tenth embodiment of the present application. As shown in fig. 14, the traffic signal lamp color mark correcting device includes: an acquisition module 1410, a first determination module 1420, a second determination module 1430, and a correction module 1440; wherein, the second determining module 1430 includes: a second determination sub-module 1431.

The obtaining module 1410 is configured to obtain annotation data of the traffic light image.

The first determining module 1420 is configured to determine a relative position between the light frame and the lighted light head in the traffic signal light image according to the labeling data.

And a second determining module 1430 for determining the true value of the color of the light that lights the lamp head based on the relative position.

In this embodiment, the second determining module 1430 includes:

the second determining submodule 1431 is configured to determine a true light color value of the lighted lamp head according to the relative position and the setting rule of the light color position of the traffic signal lamp.

And the correcting module 1440 is configured to correct the light color labeled value of the lighted lamp cap to the light color real value in response to that the light color real value is different from the light color labeled value.

According to the traffic signal lamp color marking correction device, the real value of the lamp color of the lighting lamp head is determined according to the relative position and the traffic signal lamp color position setting rule, and therefore the accuracy of determining the lamp color of the lighting lamp head can be improved.

FIG. 15 is a schematic illustration of an eleventh embodiment according to the present application. As shown in fig. 15, the apparatus includes: an acquisition module 1510, a first determination module 1520, a second determination module 1530, and a correction module 1540; among other things, the correction module 1540 includes: a third acquisition sub-module 1541, a third determination sub-module 1542 and a fourth determination sub-module 1543.

The obtaining module 1510 is configured to obtain annotation data of the traffic signal light image.

The first determining module 1520 is configured to determine a relative position between the light frame and the lighted light head in the traffic signal light image according to the labeling data.

And a second determining module 1530 for determining the true light color value of the lighted lamp head based on the relative position.

And a correcting module 1540, configured to correct the light color labeled value of the lighted lamp cap to be the light color real value in response to that the light color real value is different from the light color labeled value.

Among other things, the correction module 1540 includes:

a third obtaining submodule 1541 configured to obtain a preset lamp holder shape;

a third determining submodule 1542, configured to determine, according to the labeled data, a shape of a lit lamp head in the lamp frame;

wherein, the annotation data can also include but is not limited to the number of the lighted lamp heads in the lamp frame; in this embodiment of the present application, the third determining submodule 1542 is specifically configured to: determining the number of the lighted lamp heads in the lamp frame according to the marking data; in response to the number of the lighted caps in the lamp frame being two, the respective shapes of the first and second lighted caps are determined, respectively.

A fourth determining submodule 1543 configured to determine a true value of the lamp color of the lighted lamp base based on the relative position in response to the shape of the lighted lamp base in the lamp frame being the same as the preset lamp base shape.

The fourth determination submodule 1543 is specifically configured to: and in response to the fact that the shape of the first lighting lamp cap is not contained in the preset lamp cap shape and the shape of the second lighting lamp cap is contained in the preset lamp cap shape, stopping correcting the lamp color marking value of the first lighting lamp cap, and determining the lamp color true value of the second lighting lamp cap based on the relative position of the lamp frame and the second lighting lamp cap.

According to the traffic signal lamp color mark correction device, whether the step of determining the true value of the lamp color of the lighted lamp cap based on the relative position needs to be executed or not is determined according to the shape of the lighted lamp cap, so that the efficiency of traffic signal lamp color mark correction is improved; in addition, the number of the lighted lamp caps in the lamp frame is determined according to the labeling data, and the shapes of the first lighted lamp cap and the second lighted lamp cap are respectively determined in response to the two number of the lighted lamp caps in the lamp frame, so that the accuracy of identifying the shapes of the lighted lamp caps is ensured; in addition, the shapes of two lamp holders which are simultaneously lightened in the same lamp frame are respectively determined, and the accuracy of the color marking correction of the traffic signal lamp is ensured.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

Fig. 16 is a block diagram of an electronic device for a traffic signal lamp color labeling correction method according to an embodiment of the application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 16, the electronic apparatus includes: one or more processors 1601, memory 1602, and interfaces for connecting components, including a high speed interface and a low speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). Fig. 16 illustrates an example of a processor 1601.

Memory 1602 is a non-transitory computer-readable storage medium as provided herein. The memory stores instructions executable by the at least one processor to cause the at least one processor to perform the traffic signal light color labeling correction method provided by the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to perform the traffic signal lamp light color labeling correction method provided by the present application.

The memory 1602 is a non-transitory computer readable storage medium and can be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the traffic signal lamp color labeling correction method in the embodiment of the present application (for example, the obtaining module 1201, the first determining module 1202, the second determining module 1203, and the correcting module 1204 shown in fig. 12). The processor 1601 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 1602, so as to implement the traffic signal light color labeling correction method in the above method embodiment.

The memory 1602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the electronic device corrected according to the traffic signal light color label, and the like. Further, the memory 1602 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 1602 may optionally include memory remotely located from the processor 1601 and these remote memories may be connected over a network to the traffic light color marking correction electronics. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device for implementing the traffic signal lamp color marking correction method may further include: an input device 1603 and an output device 1604. The processor 1601, the memory 1602, the input device 1603, and the output device 1604 may be connected by a bus or other means, which is exemplified in fig. 16.

The input device 1603 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic device for traffic light color marking correction, such as a touch screen, keypad, mouse, track pad, touch pad, pointer, one or more mouse buttons, track ball, joystick, or other input device. The output devices 1604 may include a display device, auxiliary lighting devices (e.g., LEDs), tactile feedback devices (e.g., vibrating motors), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS").

According to an embodiment of the present application, there is also provided an edge computing device.

As shown in fig. 17, the edge computing device 1710 includes an electronic device 1711. For the functional and structural description of the electronic device, reference may be made to the functional and structural description of the electronic device shown in fig. 16, which is not described herein again.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A traffic signal lamp color mark correction method comprises the following steps:

2. The method of claim 1, wherein the annotation data further comprises area coordinates of the lighthead and area coordinates of each lighthead within the lighthead, wherein the determining the relative position of the lighthead and the lighted lighthead in the traffic signal image from the annotation data comprises:

acquiring the area coordinates of the lamp frame according to the marking data;

acquiring the area coordinates of the lighted lamp caps according to the area coordinates of each lamp cap in the labeling data;

and determining the relative position of the lamp frame and the lighted lamp cap according to the area coordinate of the lamp frame and the area coordinate of the lighted lamp cap.

3. The method of claim 2, wherein said determining the relative position of the lighthead and the lighthead from the area coordinates of the lighthead and the area coordinates of the lighthead comprises:

dividing the coordinate area of the lamp frame into a plurality of area blocks according to the area coordinates of the lamp frame;

determining the coordinates of the central point of the lighted lamp cap according to the area coordinates of the lighted lamp cap;

and determining the area block where the lighting lamp holder is located according to the central point coordinate to obtain the relative position of the lamp frame and the lighting lamp holder.

4. The method of claim 1, wherein said determining a true lamp color value for said lighted lamp head based on said relative position comprises:

and determining the true value of the light color of the lighted lamp cap according to the relative position and the setting rule of the light color position of the traffic signal lamp.

5. The method of claim 1, wherein said determining a true lamp color value for said lighted lamp head based on said relative position comprises:

acquiring a preset lamp holder shape;

determining the shape of a lighting lamp holder in the lamp frame according to the marking data;

and determining the true lamp color value of the lighting lamp head based on the relative position in response to that the shape of the lighting lamp head in the lamp frame is the same as the preset lamp head shape.

6. The method of claim 5, wherein the annotation data further comprises a number of lighted heads in the light box; wherein, according to the marking data, determining the shape of the lighting lamp holder in the lamp frame comprises:

determining the number of the lighted lamp heads in the lamp frame according to the marking data;

in response to the number of the lighted caps being two in the light frame, determining respective shapes of the first and second lighted caps, respectively.

7. The method of claim 6, wherein determining the true lamp color value of the lighted lamp head based on the relative position in response to the shape of the lighted lamp head in the light frame being the same as the preset lamp head shape comprises:

in response to the shape of the first lighted lamphead not being included in the preset lamphead shape and the shape of the second lighted lamphead being included in the preset lamphead shape, stopping correction of the lamp color marking value of the first lighted lamphead, and determining the true lamp color value of the second lighted lamphead based on the relative position of the bezel and the second lighted lamphead.

8. A traffic signal light color marking correction device, comprising:

9. The apparatus of claim 8, wherein the annotation data further comprises zone coordinates of the lighthead and zone coordinates of each lighthead within the lighthead, wherein the first determining module comprises:

the first obtaining submodule is used for obtaining the area coordinate of the lamp frame according to the marking data;

the second obtaining submodule is used for obtaining the area coordinates of the lighted lamp caps according to the area coordinates of the lamp caps in the labeling data;

and the first determining submodule is used for determining the relative position of the lamp frame and the lighted lamp head according to the area coordinate of the lamp frame and the area coordinate of the lighted lamp head.

10. The apparatus of claim 9, wherein the first determination submodule is specifically configured to:

11. The apparatus of claim 8, wherein the second determining means comprises:

and the second determining submodule is used for determining the true value of the light color of the lighted lamp cap according to the relative position and the setting rule of the light color position of the traffic signal lamp.

12. The apparatus of claim 8, wherein the correction module comprises:

the third obtaining submodule is used for obtaining a preset lamp holder shape;

the third determining submodule is used for determining the shape of a lighting lamp cap in the lamp frame according to the marking data;

and the fourth determining submodule is used for determining the real value of the light color of the lighting lamp holder based on the relative position in response to that the shape of the lighting lamp holder in the lamp frame is the same as the preset lamp holder shape.

13. The apparatus of claim 12, wherein the annotation data further comprises a number of lighted heads in the light box; wherein the third determining submodule is specifically configured to:

14. The apparatus of claim 13, wherein the fourth determination submodule is specifically configured to:

15. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program which, when executed by a processor, carries out the steps of the brain electrical signal processing method of any one of claims 1 to 7.

18. An edge computing device comprising the electronic device of claim 15.