System for real-time identifying urban traffic lights based on single eye vision and GPS integrated navigation system

Abstract

The invention discloses a system for real-time identifying urban traffic lights based on single eye vision and a GPS integrated navigation system. The system establishes a map of traffic lights in an off-line manner through the methods of interactive image annotation, camera calibration, 3D position recovery, etc., and provides position coordinates and semantic attributes of the traffic lights under the globally positioned GPS coordinate system. Upon online detection, with the established offline map of traffic lights as a prior, an area of interest is determined by solving the substantial scope of the traffic lights in images in combination with the pose position, and the identification of the color segmentation and shapes of the traffic lights are carried out by using form information of the traffic lights in the area of interest. The system is applicable to road conditions and scenarios of different kinds, implements stable and long-distance detection sensing of the traffic lights under various environments. Since the system adopts a low-cost and low-power consumption navigation device, an image acquisition device and a computer platform, the system can be widely applied to the fields of vision navigation of driverless vehicles, vision auxiliary driving of intelligent vehicles, etc.

Description

technical field [0001] The invention belongs to the field of computer vision and intelligent traffic, relates to real-time traffic light recognition in an urban environment, in particular to a real-time urban traffic light recognition system based on a monocular vision and GPS integrated navigation system. Background technique [0002] Intelligent Vehicle (IV) is a comprehensive system integrating environmental perception, dynamic decision-making and planning, intelligent control and execution, etc. It is an important symbol to measure the overall scientific research strength and industrial level of a country. As one of the three key technologies of smart cars, the environmental perception technology has achieved some successful applications in the current sensing system based on active sensing laser, radar and structured light, but this type of sensor has high power consumption, low Problems such as large size and high cost have restricted its promotion in the development a...

AI Technical Summary

Problems solved by technology

In sunny days with strong sunlight, cloudy and rainy weather with weak light, foggy weather with low visibility, driving against the light, dark scenes covered by trees, bright scenes without occlusion, etc., the images captured by the camera have different effects, which may cause traffic lights to Color distortion, overexposure, etc. appear in the image, which affects the detection effect of traffic light signals

In addition, factors such as car brake lights, billboards, and pedestrians in the traffic scene will introduce interference, which may cause false alarms in the recognition system and increase the difficulty of traffic light recognition.

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