Patent Document ID: 9953229
Application ID: 14901651
Patent Status: 1

Claim One:
1. A method for traffic light detection, comprising: obtaining, with a camera, a color image; calculating, with a processor, pixel response values for pixels of the color image, respectively, where each of the pixel response values is calculated using R, G, and B values of a corresponding pixel directly, such that pixel response values of red traffic light pixels and pixel response values of green traffic light pixels are substantially distributed outside of a predetermined range, where the pixel response values of red traffic light pixels are substantially distributed on a first side of the predetermined range and the pixel response values of green traffic light pixels are substantially distributed on a second side of the predetermined range which is opposite to the first side, each of the pixel response values being calculated based on multiplication of a first component and a second component of a corresponding pixel, the second component being calculated based on a summation of a sixth component and a seventh component which are respectively based on R and G values of the corresponding pixel, where the sixth and seventh components have a same sign; identifying, with the processor, pixels whose pixel response values are distributed on the first side or the second side as candidate pixels; identifying, with the processor, candidate blobs based on the candidate pixels; and verifying, with the processor, whether the candidate blobs are traffic lights, wherein the processor is configured to use a classifier to verify whether the candidate blobs are traffic lights, and wherein the classifier is a neural network, a support vector machine, or a cascade detector.