Multi-modal, multi-technique vehicle signal detection

One or more non-transitory, computer-readable media encoded with instructions that, when executed by one or more processing units, perform a method comprising:

• outputting, by an object tracker encoded by the instructions, one or more tracked objects;
• processing images by a first vehicle signal detector encoded by the instructions and a second vehicle signal detector encoded by the instructions, wherein the first and second vehicle signal detector implement different techniques for detecting vehicle signal lights based on the same images;
• outputting, by the first vehicle signal detector, first intermediary vehicle signal light semantic classifications;
• outputting, by the second vehicle signal detector, second intermediary vehicle signal light semantic classifications;
• processing further images different from the images by a third vehicle signal detector encoded by the instructions;
• outputting, by the third vehicle signal detector, third intermediary vehicle signal light semantic classifications;
• collecting first time-series data generated by the first vehicle signal detector, wherein the first time-series data comprises the first intermediary vehicle signal light semantic classifications;
• collecting second time-series data generated by the second vehicle signal detector, wherein the second time-series data comprises the second intermediary vehicle signal light semantic classifications;
• collecting third time-series data generated by the third vehicle signal detector, wherein the third time-series data comprises the third intermediary vehicle signal light semantic classifications;
• and
• deducing a final semantic detection of a vehicle signal light based on the first time-series data, the second time-series data, the third time-series data, and the one or more tracked objects.

A vehicle, comprising:

• one or more memories including instructions;
• one or more processors to execute the instructions;
• a first camera and a second camera;
• and
• an object tracker encoded in the instructions to:
• output one or more tracked objects;
• a first vehicle signal detector encoded in the instructions to:
• receive images captured by the first camera and implement a first technique for detecting vehicle signal lights based on the images;
• and
• collect first time-series data, comprising first intermediary vehicle signal light semantic classifications;
• a second vehicle signal detector encoded in the instructions to:
• receive the images and implement a second technique for detecting vehicle signal lights based on the images, the second technique being different from the first technique;
• and
• collect second time-series data, comprising second intermediary vehicle signal light semantic classifications;
• a third vehicle signal detector encoded in the instructions to:
• receive further images captured by the second camera for detecting vehicle signal lights based on the further images;
• collect third time-series data, comprising third intermediary vehicle signal light semantic classifications;
• and
• an interpreter module encoded in the instructions to:
• deduce a final semantic detection of a vehicle signal light based on the first time-series data, the second time-series data, the third time-series data, and the one or more tracked objects.