A method, apparatus, electronic device, and storage medium for tracking traffic lights.

Abstract

This invention provides a traffic light tracking method, device, electronic device, and storage medium. It records the trajectory information corresponding to each traffic light in real time. If the current traffic light is off and black, it determines whether the traffic light is flashing. If so, it corrects the current category and color information. For each traffic light of the same category, it assigns a color score to the current color information of the traffic light, determines the target color information with the highest color score, and tracks the target object based on the target color information. The trajectory information corresponding to the tracked object is used as the tracking result. In this scheme, historical trajectories of each traffic light are tracked. Flashing state update rules, flashing state category maintenance rules, and flashing state color maintenance rules are sequentially applied to the historical trajectories to improve the accuracy of traffic light color and category recognition. Then, a color voting rule is used to accurately select the traffic light associated with the current lane in multi-traffic light scenarios.

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