Vision-Based Indicator Signal Detection Using Spatiotemporal Filtering

A system comprising:

• a camera coupled to a first vehicle and configured to capture image data of an environment;
• a sensor system comprising at least one non-camera sensor configured to capture sensor data representing movement of a second vehicle;
• and
• a computing device configured to:
• identify, using the image data, a potential active indicator signal of the second vehicle;
• determine a likelihood that the second vehicle has an active indicator signal by correlating the potential active indicator signal with the movement of the second vehicle;
• and
• cause the first vehicle to navigate based on a control strategy determined based on the likelihood.

A non-transitory computer-readable medium storing instructions that, when executed by a computing system, cause the computing system to perform operations comprising:

• receiving image data from a camera and sensor data from a non-camera sensor, both coupled to a first vehicle;
• identifying a potential active indicator signal of a second vehicle in the image data;
• determining movement of the second vehicle based on the sensor data;
• determining a likelihood that the second vehicle has an active indicator signal based on correlating the potential active indicator signal with the movement of the second vehicle;
• and
• modifying a navigation path of the first vehicle based on the likelihood.