Simultaneous state recognition for multiple traffic signals on urban road
Simultaneous state recognition for multiple traffic signals on urban road
复制标题
城市道路多个交通信号同时状态识别
DOI：
10.1109/mecatronics.2016.7547129
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Mohammad Aldibaja
中科院分区：
文献类型：
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作者：
Keisuke Yoneda;N. Suganuma;Mohammad Aldibaja
自动驾驶汽车研究转向公共道路实验。本研究的重点是基于单摄像头、预定义地图数据库和由定位模块估计的准确车辆姿态的交通信号检测。通过使用地图数据和车辆姿态，可以计算图像ROI（感兴趣区域）。本文处理 ROI 中出现多个信号的情况，特别是对于远处的交通信号。我们提出了一种目标交通信号图像定位的概率方法，以实现城市驾驶的同步交通信号识别。此外，还提出了一种自适应对比度更新策略，利用其概率来增强提取的交通信号的对比度。实验证明了该方法针对真实驾驶数据的性能。
Automated vehicle researches move on to the public road experiments. This study focuses on a traffic signal detection based on mono-camera, predefined map database and accurate vehicle pose which is estimated by a localization module. By using the map data and the vehicle pose, an image ROI (Region-Of-Interest) can be calculated. This paper handles a situation with multiple signals appeared in an ROI especially for far traffic signals. We propose a probabilistic method for an image location of the target traffic signal in order to realize simultaneous traffic signal recognition for urban driving. In addition, an adaptive contrast updating strategy has been proposed to enhance the contrast of the extracted traffic signal using its probability. Experiments show the performance of the proposed method for real driving data.