PROBLEM TO BE SOLVED: To properly recognize a signal area in a shorter time.SOLUTION: A recognition apparatus includes: an acquisition unit which acquires an image of surroundings of a vehicle; a first color recognition unit which recognizes a first recognition area, on the basis of whether a color of an area included in the image is included in an area of a color indicating a signal of a traffic light; a second color recognition unit which recognizes a second recognition area from the first recognition area, by use of a recognition dictionary formed by learning a signal pixel indicating a signal of a traffic light and a non-signal pixel other than the signal pixel; and a shape recognition unit which recognizes a signal shape area indicating a shape of a signal of a traffic light, from the second recognition area.SELECTED DRAWING: Figure 4
【課題】信号領域をより短い時間で正確に認識する。【解決手段】実施形態の認識装置は、車両の周囲の画像を取得する取得部と、画像に含まれる領域の色が、信号機の信号を示す色の範囲に含まれるか否かに基づいて、第1の認識対象領域を認識する第1の色認識部と、信号機の信号を示す信号画素と、信号画素でない非信号画素と、から学習された認識辞書を使用して、第1の認識対象領域から第2の認識対象領域を認識する第2の色認識部と、第2の認識対象領域から信号機の信号の形状を示す信号形状領域を認識する形状認識部と、を備える。【選択図】図4
RECOGNITION APPARATUS, RECOGNITION METHOD, AND PROGRAM
認識装置、認識方法及びプログラム
05.01.2017
Patent
Elektronische Ressource
Japanisch
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