US 11,967,093 B2
Light color identifying method and apparatus of signal light, and roadside device
Bo Liu, Beijing (CN)
Assigned to Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd., Beijing (CN)
Filed by Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd., Beijing (CN)
Filed on Jul. 2, 2021, as Appl. No. 17/366,838.
Claims priority of application No. 202011397761.7 (CN), filed on Dec. 3, 2020.
Prior Publication US 2021/0334559 A1, Oct. 28, 2021
Int. Cl. G06T 7/254 (2017.01); G06T 7/194 (2017.01); G06V 20/58 (2022.01)
CPC G06T 7/254 (2017.01) [G06T 7/194 (2017.01); G06V 20/584 (2022.01)] 14 Claims
OG exemplary drawing
 
1. A light color identifying method of a signal light, comprising:
collecting an image comprising the signal light through an image collecting apparatus;
determining a background image according to N preceding frames of images of a current frame of image, wherein N is a positive integer greater than or equal to 1;
performing foreground identification on the current frame of image according to the background image to obtain a moving foreground, wherein the moving foreground represents a change of the current frame of image relative to the background image; and
determining, according to the moving foreground, a light color of a light that is turned on in the current frame of image;
wherein the determining, according to the moving foreground, the light color of the light that is turned on in the current frame of image comprises:
when the current frame of image has no moving foreground identified, determining, according to a light color of a light that was turned on in a preceding frame of image, the light color of the light that is turned on in the current frame of image;
wherein information of the current frame of image comprises light holder position information; and
the determining, according to the moving foreground, the light color of the light that is turned on in the current frame of image further comprises:
determining, according to a light holder position corresponding to the moving foreground in the current frame of image, the light color of the light that is turned on in the current frame of image; and
wherein the determining, according to the light holder position corresponding to the moving foreground in the current frame of image, the light color of the light that is turned on in the current frame of image comprises:
when two moving foregrounds corresponding to different light holder positions are identified in the current frame of image, determining, according to the light color of the light that was turned on in the preceding frame of image and a preset light color switching process, the light color of the light that is turned on in the current frame of image.