JP6494719B2 - 交通信号マップ作成及び検出 - Google Patents
交通信号マップ作成及び検出 Download PDFInfo
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- 238000001514 detection method Methods 0.000 title description 10
- 238000000034 method Methods 0.000 claims description 69
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
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- Bioinformatics & Computational Biology (AREA)
- General Engineering & Computer Science (AREA)
- Artificial Intelligence (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
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Description
本出願は、2010年6月21日に出願された「Traffic Signal Mapping And Detection」と題する特許出願第12/819,575号の利益を主張し、その特許出願は2010年1月22日に出願された米国仮特許出願第61/297,468号の利益を主張し、それらの特許出願の開示全体は引用することにより本明細書の一部をなすものとする。
5
MPカメラを、前方正面を向くように配置し、運転者の視界を遮るのを最小限に抑えるバックミラーの右側に取り付けることができる。30度の視界を有する固定レンズを備えたカメラの場合に、2040×1080領域のような特定の対象領域を選択することができる。例えば、88km/h(55MPH)で進行しているときに、適度な制動距離を確保するために、そのカメラは、150mの地点において交通信号を検出できるように較正することができる。
Claims (11)
- 交差点に近接した地理的ロケーションに関連付けられた1組の画像にアクセスするステップと、
前記1組の画像の各特定の画像について、1つ以上のコンピュータによって、前記特定の画像内の明るい色の赤色物体、黄色物体及び青色物体を識別するステップと、
前記識別された明るい色の赤色物体、黄色物体及び青色物体の少なくとも1つの3次元ロケーションに対応する可能性がある交通信号のロケーションをそれぞれ識別する交通信号ラベルの集合を、前記1つ以上のコンピュータによって、生成するステップと、
交通信号の光以外の物体に対応する明るい色の赤色物体、黄色物体及び青色物体の前記3次元ロケーションに対応する前記交通信号ラベルを除去するために、前記1つ以上のコンピュータによって、前記交通信号ラベルの集合間の距離推定又は選択された画像間の直接動き補償の少なくとも1つに基づいて、前記交通信号ラベルの集合をフィルタリングするステップと、
フィルタリングした前記交通信号ラベルの集合と、前記1組の画像の前記画像の前記地理的ロケーションとに基づいて、交通信号の3次元ロケーションを前記1つ以上のコンピュータによって、特定するステップと、
を含んでなる、方法。 - 前記交通信号の前記特定された3次元ロケーションに基づいて、前記交通信号の前記3次元ロケーションを識別するマップを生成するステップを更に含む、請求項1に記載の方法。
- 車両に関連付けられたコンピュータに前記マップを送るステップを更に含む、請求項2に記載の方法。
- 前記明るい色の赤色物体、黄色物体及び青色物体を識別するステップは、1つ以上の交通信号に対応するサイズ及びアスペクト比を有する明るい色の赤色物体、黄色物体及び青色物体を識別するステップを含む、請求項1に記載の方法。
- 前記交通信号の前記特定された3次元ロケーションを、前記交差点を通る車線のマップと比較することに基づいて、前記交通信号に関連付けられる車線を特定するステップを更に含む、請求項1に記載の方法。
- 交差点に近接した地理的ロケーションに関連付けられた1組の画像を格納するメモリと、
1つ以上のコンピュータであって、
前記1組の画像の各特定の画像について、前記特定の画像内の明るい色の赤色物体、黄色物体及び青色物体を識別し、
前記識別された明るい色の赤色物体、黄色物体及び青色物体の少なくとも1つの3次元ロケーションに対応する可能性がある交通信号のロケーションをそれぞれ識別する交通信号ラベルの集合を生成し、
交通信号の光以外の物体に対応する明るい色の赤色物体、黄色物体及び青色物体の前記3次元ロケーションに対応する前記交通信号ラベルを除去するために、前記交通信号ラベルの集合間の距離推定又は選択された画像間の直接動き補償の少なくとも1つに基づいて、前記交通信号ラベルの集合をフィルタリングし、
フィルタリングした前記交通信号ラベルの集合と、前記1組の画像の前記画像の前記地理的ロケーションとに基づいて、交通信号の3次元ロケーションを特定する、
ように構成されている、1つ以上のコンピュータと、
を含む、システム。 - 前記1つ以上のコンピュータは、前記交通信号の前記特定された3次元ロケーションに基づいて、前記交通信号の前記3次元ロケーションを識別するマップを生成するように更に構成される、請求項6に記載のシステム。
- 前記1つ以上のコンピュータは、車両に関連付けられたコンピュータに前記マップを送るように更に構成される、請求項7に記載のシステム。
- 前記明るい色の赤色物体、黄色物体及び青色物体を識別することは、1つ以上の交通信号に対応するサイズ及びアスペクト比を有する明るい色の赤色物体、黄色物体及び青色物体を識別することを含む、請求項6に記載のシステム。
- 前記1つ以上のコンピュータは、前記交通信号の前記特定された3次元ロケーションを、前記交差点を通る車線のマップと比較することに基づいて、前記交通信号に関連付けられる車線を特定するように更に構成される、請求項6に記載のシステム。
- プログラムのコンピュータ可読命令が格納されている非一時的有形コンピュータ可読記憶媒体であって、前記命令は、プロセッサによって実行されると、前記プロセッサに、
交差点に近接した地理的ロケーションに関連付けられた1組の画像にアクセスするステップと、
前記1組の画像の各特定の画像について、前記特定の画像内の明るい色の赤色物体、黄色物体及び青色物体を識別するステップと、
前記識別された明るい色の赤色物体、黄色物体及び青色物体の少なくとも1つの3次元ロケーションに対応する可能性がある交通信号のロケーションをそれぞれ識別する交通信号ラベルの集合を生成するステップと、
交通信号の光以外の物体に対応する明るい色の赤色物体、黄色物体及び青色物体の前記3次元ロケーションに対応する前記交通信号ラベルを除去するために、前記交通信号ラベルの集合間の距離推定又は選択された画像間の直接動き補償の少なくとも1つに基づいて、前記交通信号ラベルの集合をフィルタリングするステップと、
フィルタリングした前記交通信号ラベルの集合と、前記1組の画像の前記画像の前記地理的ロケーションとに基づいて、交通信号の3次元ロケーションを特定するステップと、
を含む方法を実施させる、媒体。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US29746810P | 2010-01-22 | 2010-01-22 | |
US61/297,468 | 2010-01-22 | ||
US12/819,575 | 2010-06-21 | ||
US12/819,575 US8559673B2 (en) | 2010-01-22 | 2010-06-21 | Traffic signal mapping and detection |
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JP2016177093A Division JP6230673B2 (ja) | 2010-01-22 | 2016-09-09 | 交通信号マップ作成及び検出 |
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JP2018013497A JP2018013497A (ja) | 2018-01-25 |
JP6494719B2 true JP6494719B2 (ja) | 2019-04-03 |
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JP2012550099A Active JP6006641B2 (ja) | 2010-01-22 | 2011-01-20 | 交通信号マップ作成及び検出 |
JP2016177093A Active JP6230673B2 (ja) | 2010-01-22 | 2016-09-09 | 交通信号マップ作成及び検出 |
JP2017200974A Expired - Fee Related JP6494719B2 (ja) | 2010-01-22 | 2017-10-17 | 交通信号マップ作成及び検出 |
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JP2012550099A Active JP6006641B2 (ja) | 2010-01-22 | 2011-01-20 | 交通信号マップ作成及び検出 |
JP2016177093A Active JP6230673B2 (ja) | 2010-01-22 | 2016-09-09 | 交通信号マップ作成及び検出 |
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US (3) | US8559673B2 (ja) |
EP (1) | EP2526508B1 (ja) |
JP (3) | JP6006641B2 (ja) |
KR (1) | KR101534056B1 (ja) |
CN (1) | CN102792316B (ja) |
WO (1) | WO2011091099A1 (ja) |
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