Lamp holder position determination method and device, storage medium, program and roadside equipment

Abstract

The invention provides a lamp holder position determination method and device, a storage medium, a program and roadside equipment, and relates to an intelligent traffic technology and an unmanned driving technology. The method comprises the steps: determining each circle in each image for a plurality of collected frames of images comprising signal lamps, and determining the circle center of each circle; filtering each circle center to obtain an effective circle center; and determining the number of circle centers according to each effective circle center, and determining the lamp holder position of the signal lamp in the image according to the number of circle centers and each effective circle center. In the implementation mode, the position of the lamp holder can be determined by recognizing the circle in the image, so that the situation that the complete signal lamp cannot be acquired based on the preset labeling information due to the fact that the position of the image acquisition device or the signal lamp changes is avoided, and the scheme provided by the invention can be realized only by recognizing the circle in the image; the method consumes less time and requires less computing power.

Description

technical field [0001] The present application relates to intelligent transportation technology and unmanned driving technology in image processing technology, and in particular to a method, device, storage medium, program, and roadside equipment for determining the position of a light head. Background technique [0002] Signal lamps can be seen everywhere in life, and signal lamps include multiple lamp heads. For example, traffic lights include three lamp holders. [0003] In some application scenarios, it is necessary to collect the status information of the signal light, such as collecting the light color of the signal light. In one embodiment, an image including a signal light may be collected, and then the state of the signal light may be determined according to the collected image. [0004] When determining the state of a signal light based on an image, it is necessary to predetermine the position of the signal light in the image before identifying it. However, in t...

AI Technical Summary

Problems solved by technology

However, in the actual process, whether it is the thermal expansion and contraction of the erected equipment, or the aging and looseness of the installation components, the image acquisition equipment will move slightly, and then the complete signal light cannot be obtained according to the predetermined position, and the accurate signal light status cannot be obtained.

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