Signal recognition device, signal recognition method, and signal recognition program

摘要

Is mounted on a mobile object such as a vehicle, it is electromagnetically connected to the wired or wireless camera, signal recognition device comprises a storage unit, a signal display candidate detection means, the reference calculation unit, and a blue lighting determining unit . From the camera image acquisition, display candidate signal detection means detects the blue lights candidate region and red lights candidate regions of the traffic signal. Calculates for each pixel a moving average of the pixel values ​​of the pixels corresponding to the blue lamp candidate region, a reference calculation section, a storage section to store the moving average. At this time, among the pixel values ​​of the blue lights candidate region, the reference calculation means, excluding from the calculation target of the moving average, the difference between the moving average, which is stored in the storage unit and the pixel value is larger than a predetermined threshold to. If it is determined that the red lights has changed to off the lights, blue lights determining means determines whether or not the blue lights are illuminated based on the moving average, which is stored in the storage unit and the image of the off time of the red lights.