MX2017014963A - Deteccion y clasificacion de semaforos mediante el uso de vision informatica y aprendizaje profundo. - Google Patents
Deteccion y clasificacion de semaforos mediante el uso de vision informatica y aprendizaje profundo.Info
- Publication number
- MX2017014963A MX2017014963A MX2017014963A MX2017014963A MX2017014963A MX 2017014963 A MX2017014963 A MX 2017014963A MX 2017014963 A MX2017014963 A MX 2017014963A MX 2017014963 A MX2017014963 A MX 2017014963A MX 2017014963 A MX2017014963 A MX 2017014963A
- Authority
- MX
- Mexico
- Prior art keywords
- traffic
- frame
- classification
- deep learning
- light detection
- Prior art date
Links
- 238000013135 deep learning Methods 0.000 title 1
- 238000001514 detection method Methods 0.000 title 1
- 238000000034 method Methods 0.000 abstract 2
- 238000013528 artificial neural network Methods 0.000 abstract 1
Classifications
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- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/90—Dynamic range modification of images or parts thereof
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20112—Image segmentation details
- G06T2207/20132—Image cropping
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computational Linguistics (AREA)
- Computing Systems (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Data Mining & Analysis (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Artificial Intelligence (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
Se describe un método para detectar y clasificar uno o más semáforos. El método puede incluir convertir un cuadro RGB en un cuadro HSV. El cuadro HSV puede filtrarse en al menos un valor de umbral para obtener al menos un cuadro de saturación. Se puede extraer al menos un contorno de al menos un cuadro de saturación. Por consiguiente, se puede recortar una primera parte del RGB con el fin de abarcar un área que incluye el al menos un contorno. La primera parte puede clasificarse entonces por una red neural artificial para determinar si la primera parte corresponde a una clase de no semáforo, una clase de semáforo en rojo, una clase de semáforo verde, una clase de semáforo en amarillo o similares.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/360,883 US10185881B2 (en) | 2016-11-23 | 2016-11-23 | Traffic-light detection and classification using computer vision and deep learning |
Publications (1)
Publication Number | Publication Date |
---|---|
MX2017014963A true MX2017014963A (es) | 2018-10-04 |
Family
ID=60805820
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2017014963A MX2017014963A (es) | 2016-11-23 | 2017-11-22 | Deteccion y clasificacion de semaforos mediante el uso de vision informatica y aprendizaje profundo. |
Country Status (6)
Country | Link |
---|---|
US (3) | US10185881B2 (es) |
CN (1) | CN108090411B (es) |
DE (1) | DE102017127489A1 (es) |
GB (1) | GB2559005A (es) |
MX (1) | MX2017014963A (es) |
RU (1) | RU2017135215A (es) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10185881B2 (en) * | 2016-11-23 | 2019-01-22 | Ford Global Technologies, Llc | Traffic-light detection and classification using computer vision and deep learning |
JP6834425B2 (ja) * | 2016-12-02 | 2021-02-24 | スズキ株式会社 | 運転支援装置 |
US10650257B2 (en) * | 2017-02-09 | 2020-05-12 | SMR Patents S.à.r.l. | Method and device for identifying the signaling state of at least one signaling device |
US10614326B2 (en) * | 2017-03-06 | 2020-04-07 | Honda Motor Co., Ltd. | System and method for vehicle control based on object and color detection |
US11069234B1 (en) | 2018-02-09 | 2021-07-20 | Applied Information, Inc. | Systems, methods, and devices for communication between traffic controller systems and mobile transmitters and receivers |
CN108830199B (zh) | 2018-05-31 | 2021-04-16 | 京东方科技集团股份有限公司 | 识别交通灯信号的方法、装置、可读介质及电子设备 |
US11205345B1 (en) | 2018-10-02 | 2021-12-21 | Applied Information, Inc. | Systems, methods, devices, and apparatuses for intelligent traffic signaling |
CN109508635B (zh) * | 2018-10-08 | 2022-01-07 | 海南师范大学 | 一种基于TensorFlow结合多层CNN网络的交通灯识别方法 |
US11056005B2 (en) | 2018-10-24 | 2021-07-06 | Waymo Llc | Traffic light detection and lane state recognition for autonomous vehicles |
JP7172441B2 (ja) * | 2018-10-25 | 2022-11-16 | トヨタ自動車株式会社 | 進行可能方向検出装置及び進行可能方向検出方法 |
US10467487B1 (en) * | 2018-12-11 | 2019-11-05 | Chongqing Jinkang New Energy Automobile Co., Ltd. | Fusion-based traffic light recognition for autonomous driving |
CN111723614A (zh) * | 2019-03-20 | 2020-09-29 | 北京四维图新科技股份有限公司 | 交通信号灯识别方法及装置 |
DE102019207580A1 (de) | 2019-05-23 | 2020-11-26 | Volkswagen Aktiengesellschaft | Verfahren zum Betreiben eines tiefen Neuronalen Netzes |
US10944912B2 (en) | 2019-06-04 | 2021-03-09 | Ford Global Technologies, Llc | Systems and methods for reducing flicker artifacts in imaged light sources |
CN110633635A (zh) * | 2019-08-08 | 2019-12-31 | 北京联合大学 | 一种基于roi的交通标志牌实时检测方法及系统 |
DE102019129029A1 (de) * | 2019-10-28 | 2021-04-29 | Bayerische Motoren Werke Aktiengesellschaft | System und verfahren zur objektdetektion |
US11210571B2 (en) | 2020-03-13 | 2021-12-28 | Argo AI, LLC | Using rasterization to identify traffic signal devices |
CN111723690B (zh) * | 2020-06-03 | 2023-10-20 | 北京全路通信信号研究设计院集团有限公司 | 一种电路设备状态监测方法和系统 |
US11900689B1 (en) * | 2020-06-04 | 2024-02-13 | Aurora Operations, Inc. | Traffic light identification and/or classification for use in controlling an autonomous vehicle |
US11704912B2 (en) * | 2020-06-16 | 2023-07-18 | Ford Global Technologies, Llc | Label-free performance evaluator for traffic light classifier system |
EP4286809A4 (en) | 2021-03-03 | 2024-01-10 | Mitsubishi Electric Corporation | SIGNAL PROCESSING DEVICE, CONTROL CIRCUIT, STORAGE MEDIUM AND SIGNAL PROCESSING METHOD |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4380838B2 (ja) * | 1999-04-08 | 2009-12-09 | アジア航測株式会社 | ビデオ画像の道路標識自動認識方法及び道路標識自動認識装置並びに道路標識自動認識プログラム |
JP3621065B2 (ja) * | 2000-12-25 | 2005-02-16 | 松下電器産業株式会社 | 画像検出装置、プログラムおよび記録媒体 |
US7724962B2 (en) | 2006-07-07 | 2010-05-25 | Siemens Corporation | Context adaptive approach in vehicle detection under various visibility conditions |
US8358806B2 (en) * | 2007-08-02 | 2013-01-22 | Siemens Corporation | Fast crowd segmentation using shape indexing |
CN101408942B (zh) * | 2008-04-17 | 2011-01-12 | 浙江师范大学 | 一种复杂背景下的车牌定位方法 |
CN103020623B (zh) * | 2011-09-23 | 2016-04-06 | 株式会社理光 | 交通标志检测方法和交通标志检测设备 |
CN102542260A (zh) | 2011-12-30 | 2012-07-04 | 中南大学 | 一种面向无人驾驶车的道路交通标志识别方法 |
US9530056B2 (en) | 2012-06-15 | 2016-12-27 | Bhaskar Saha | Day night classification of images using thresholding on HSV histogram |
CN103489324B (zh) * | 2013-09-22 | 2015-09-09 | 北京联合大学 | 一种基于无人驾驶的实时动态红绿灯检测识别方法 |
CN104778833B (zh) | 2014-01-10 | 2018-05-08 | 北京信路威科技股份有限公司 | 识别交通信号灯的方法 |
CN103955705B (zh) * | 2014-04-29 | 2017-11-28 | 银江股份有限公司 | 基于视频分析的交通信号灯定位、识别与分类方法 |
US20150339589A1 (en) * | 2014-05-21 | 2015-11-26 | Brain Corporation | Apparatus and methods for training robots utilizing gaze-based saliency maps |
CN104021378B (zh) * | 2014-06-07 | 2017-06-30 | 北京联合大学 | 基于时空关联与先验知识的交通信号灯实时识别方法 |
CN105404856B (zh) * | 2015-11-02 | 2018-08-24 | 长安大学 | 一种公交车辆座位占用状态检测方法 |
CN106101632A (zh) * | 2016-06-29 | 2016-11-09 | 韦醒妃 | 基于视觉特征的图像处理装置 |
US10185881B2 (en) * | 2016-11-23 | 2019-01-22 | Ford Global Technologies, Llc | Traffic-light detection and classification using computer vision and deep learning |
CN106909937B (zh) | 2017-02-09 | 2020-05-19 | 北京汽车集团有限公司 | 交通信号灯识别方法、车辆控制方法、装置及车辆 |
-
2016
- 2016-11-23 US US15/360,883 patent/US10185881B2/en not_active Expired - Fee Related
-
2017
- 2017-10-05 RU RU2017135215A patent/RU2017135215A/ru not_active Application Discontinuation
- 2017-11-16 GB GB1718962.2A patent/GB2559005A/en not_active Withdrawn
- 2017-11-17 CN CN201711143943.XA patent/CN108090411B/zh active Active
- 2017-11-21 DE DE102017127489.8A patent/DE102017127489A1/de active Pending
- 2017-11-22 MX MX2017014963A patent/MX2017014963A/es unknown
-
2018
- 2018-08-20 US US16/105,775 patent/US10402667B2/en active Active
-
2019
- 2019-07-16 US US16/513,541 patent/US10614327B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US10402667B2 (en) | 2019-09-03 |
GB2559005A (en) | 2018-07-25 |
US20190005340A1 (en) | 2019-01-03 |
US20180144203A1 (en) | 2018-05-24 |
US20190340450A1 (en) | 2019-11-07 |
GB201718962D0 (en) | 2018-01-03 |
CN108090411A (zh) | 2018-05-29 |
DE102017127489A1 (de) | 2018-05-24 |
US10614327B2 (en) | 2020-04-07 |
CN108090411B (zh) | 2023-06-02 |
US10185881B2 (en) | 2019-01-22 |
RU2017135215A (ru) | 2019-04-05 |
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