To correctly determine an indication direction of an arrow signal in a lighting arrow lamp part of a traffic light.SOLUTION: A luminance adjustment image of a front image is generated in indication direction detection processing for detecting a direction indicated by an arrow signal. An image area including an arrow lamp part in the luminance adjustment image is extracted from the front image. A size adjustment image is generated by adjusting a size of the image area so as to allow the size of the image area to coincide with a size of a template image, and then, a binary image is generated by executing binarization processing. A coordinate of a tip part of an arrow head constituting the arrow signal in the binary image is identified. A position adjustment image is generated by moving the arrow head so as to allow a coordinate of the tip part to coincide with a reference coordinate whose distance from the coordinate of the tip part is the shortest among a plurality of reference coordinates set in the binary image. A direction indicated by the arrow signal included in the position adjustment image is detected by comparing the position adjustment image with the template image.SELECTED DRAWING: Figure 7

    【課題】信号機の矢印灯火部が灯火している矢印信号の指示方向を正しく判定する。【解決手段】矢印信号が指し示す方向を検出する指示方向検出処理において、フロント画像の輝度調整画像を生成する。輝度調整画像に矢印灯火部を含む画像領域をフロント画像から抽出する。画像領域のサイズがテンプレート画像のサイズと一致するように画像領域のサイズを調整してサイズ調整画像を生成し、さらに、二値化処理を行って二値化画像を生成する。二値化画像において矢印信号を構成するアローヘッドの先端部の座標を特定する。二値化画像に設定した複数の基準座標のうち、先端部の座標からの距離が最も短い基準座標に先端部の座標が一致するようにアローヘッドを移動して位置調整画像を生成する。位置調整画像と、テンプレート画像との比較により、位置調整画像に含まれる矢印信号が指し示す方向を検出する。【選択図】図7


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    Title :

    TRAFFIC LIGHT RECOGNITION DEVICE AND TRAFFIC LIGHT RECOGNITION METHOD


    Additional title:

    信号機認識装置及び信号機認識方法


    Contributors:

    Publication date :

    2023-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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