LIGHTING COLOR DETERMINATION DEVICE FOR SIGNAL AND LIGHTING COLOR DETERMINATION METHOD FOR SIGNAL

PROBLEM TO BE SOLVED: To provide a lighting color determination device for a signal capable of reducing a throughput required for the determination of the lighting color of the signal in a captured image and to provide a lighting color determination method for the signal.SOLUTION: The lighting color determination device for the signal relating to an embodiment includes a region extraction part, a region division part, a region specification part, and a lighting color determination part. The region extraction part extracts a signal region where the shape of the signal exists from the captured image. The region division part divides the signal region into a plurality of light source regions where the light source of the signal exists. The region specification part specifies a light source region where the light source which is ON exists as a lighting region on the basis of a difference in brightness between the plurality of light source regions. The lighting color determination part determines the lighting color of the signal on the basis of the color of the lighting region.SELECTED DRAWING: Figure 1 【課題】撮像画像における信号機の点灯色の判定に要する処理量を低減することができる信号機の点灯色判定装置および信号機の点灯色判定方法を提供する。【解決手段】実施形態に係る信号機の点灯色判定装置は、領域抽出部と、領域分割部と、領域特定部と、点灯色判定部とを備える。領域抽出部は、撮像画像から信号機の形状が存在する信号機領域を抽出する。領域分割部は、信号機領域を信号機の光源が存在する複数の光源領域に分割する。領域特定部は、複数の光源領域間の明るさの差に基づいて、点灯中の光源が存在する光源領域を点灯領域として特定する。点灯色判定部は、点灯領域の色に基づいて、信号機の点灯色を判定する。【選択図】図１