Journal of Broadcast Engineering (방송공학회논문지)

The Korean Institute of Broadcast and Media Engineers (한국방송∙미디어공학회)
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Real Time Traffic Light Detection Algorithm Based on Color Map and Multilayer HOG-SVM

색상지도와 멀티 레이어 HOG-SVM 기반의 실시간 신호등 검출 알고리즘

  • Kim, Sanggi (Kyungpook National University, Graduate School of Electronics Engineering) ;
  • Han, Dong Seog (Kyungpook National University, School of Electronics Engineering, College of IT Engineering)
  • 김상기 (경북대학교 대학원 전자공학부) ;
  • 한동석 (경북대학교 IT대학 전자공학부)
  • Received : 2016.09.30
  • Accepted : 2016.12.21
  • Published : 2017.01.30
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Abstract

Accurate detection of traffic lights is very important for the advanced driver assistance system (ADAS). There have been many research developments in this area. However, conventional of image processing methods are usually sensitive to varying illumination conditions. This paper proposes a traffic light detection algorithm to overcome this situation. The proposed algorithm first detects the candidates of traffic light using the proposed color map and hue-saturation-value (HSV) Traffic lights are then detected using the conventional histogram of oriented gradients (HOG) descriptor and support vector machine (SVM). Finally, the proposed Multilayer HOG descriptor is used to determine the direction information indicated by traffic lights. The proposed algorithm shows a high detection rate in real-time.

신호등 검출은 첨단운전자보조시스템에서 매우 중요하며 최근 신호등 검출 알고리즘의 연구가 활발히 진행 중이다. 그러나 기존의 영상처리 기반의 신호등검출 알고리즘은 조명의 변화에 민감하다는 문제점이 있다. 이러한 문제점을 해결하기 위하여 본 논문에서는 다음과 같은 신호등 검출 알고리즘을 제안한다. 먼저 제안하는 컬러맵과 HSV(hue-saturation-value)를 이용하여 신호등의 후보영역을 검출한다. 이후 검출된 신호등 후보영역으로부터 HOG(histogram of oriented gradient) 서술자와 SVM(support vector machine)을 이용하여 신호등을 검출한다. 검출된 신호등 영상을 이용하여 제안하는 Multilayer HOG 서술자를 이용하여 신호등의 방향 정보를 결정한다. 실험결과에서 확인할 수 있듯이 제안하는 알고리즘은 높은 검출성능과 실시간 처리가 가능하다.

Keywords

References

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