Denso Ten Limited

Yasutaka Nishijima

Takashi Kono

Naoshi Kakita

Yuki Matsumoto

Shota Kinoshita

An image processing apparatus includes a controller configured to: (i) perform image recognition of the camera image to identify a signal region in which a traffic light exists in the camera image; (ii) divide the signal region into a plurality of sub-regions; (iii) calculate a first representative pixel value related to a color component for each of a predetermined number of the sub-regions; (iv) identify as same color regions each of the predetermined number of the sub-regions that have more than a predetermined number of pixels with pixel values within a predetermined range of the first representative pixel value; (v) calculate a second representative pixel value related to a color component in the same color regions; and (vi) exclude the pixels having the pixel values within a predetermined range of the second representative pixel value from the signal region for subsequent determination of the light color of the traffic light.

Image processing apparatus

An image processing apparatus that identifies a lighting state of a traffic light having a green light, a yellow light, and a red light. The image processing apparatus includes a controller configured to: (i) specify a traffic light region in an image acquired from an in-vehicle camera; (ii) detect green pixels, yellow pixels, and red pixels in the traffic light region; (iii) perform weighting by assigning a higher weighting value to the green pixels, the yellow pixels and the red pixels in positions respectively corresponding to locations of the green light, the yellow light, and the red light in the traffic light region; and (iv) determine the lighting state of the traffic light as either green, yellow or red based on a comparison of a total number of pixels for each of the green, yellow and red pixels after performing the weighting.

An image processing apparatus includes a controller configured to: (i) perform image recognition of a camera image to identify a signal region in which a traffic light exists in the camera image, the traffic light including an arrow light; (ii) identify a candidate region of the signal region, the candidate region satisfying (a) a first condition related to a color component of the arrow light and (b) a second condition related to a luminance component of the arrow light; and (iii) determine that the arrow light of the traffic light is turned on when a size of the candidate region that has been identified is smaller than a predetermined size.

Growing community of inventors

Kobe, Japan

Yasutaka Nishijima