US 9,442,487 B1 · Classifier hierarchies for traffic light and traffic indicator detection

Abstract

The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes an image processing system. The image processing system receives an image that includes a light indicator. The light indicator includes an illuminated component. The image processing system determines a color of the illuminated component of the light indicator and an associated confidence level of the determination of the color of the illuminated component. The image processing system also determines a shape of the illuminated component of the light indicator and an associated confidence level of the determination of the shape of the illuminated component. The determined confidence levels represent an estimated accuracy of the determinations of the shape and color. Additionally, the image processing system provides instructions executable by a computing device to control the autonomous vehicle based on at least one of the determined confidence levels exceeding a threshold value.

Claims15

Dependent claims

A method comprising:

receiving, from an image-capture device coupled to an autonomous vehicle, an image that includes a light indicator, wherein the light indicator comprises an illuminated component;
determining, from the received image, a color of the illuminated component of the light indicator and an associated confidence level of the determination of the color of the illuminated component;
determining, from the received image, a shape of the illuminated component of the light indicator and an associated confidence level of the determination of the shape of the illuminated component;
based on at least one of the confidence level of the determination of the color and the confidence level of the determination of the shape exceeding a threshold value, determining a characteristic of a state of the light indicator;
and
providing instructions executable by a computing device to control the autonomous vehicle based on the determined characteristic of the state of the light indicator.

3 more elements

An image processing system of an autonomous vehicle comprising:

an image-capture device;
at least one processor;
and
a memory having stored thereon instructions that, upon execution by the at least one processor, cause the image processing system to perform functions comprising:
receiving, from the image-capture device coupled to the autonomous vehicle, an image that includes a particular traffic indicator;
determining, from one or more predetermined colors, (i) a color of the particular traffic indicator in the received image and (ii) an associated confidence level of the determination of the color representative of an estimated accuracy of the determined color;
determining, from one or more predetermined shapes, (i) a shape of the particular traffic indicator in the received image and (ii) an associated confidence level of the determination of the shape representative of an estimated accuracy of the determined shape;
and
based on at least one of the confidence level of the determination of the color and the confidence level of the determination of the shape exceeding a threshold value, providing executable instructions to control the autonomous vehicle.

6 more elements

Dependencies are inferred from the claim text.

Classifier hierarchies for traffic light and traffic indicator detection

Life of this patent

Classifier hierarchies for traffic light and traffic indicator detection

Life of this patent

Abstract

Claims15