RECOGNITION DEVICE, MOVING BODY, RECOGNITION METHOD, AND PROGRAM

To provide a technique capable of improving a reliability of a lighting status of a traffic light recognized using an imaging unit.SOLUTION: A recognition device that is mounted on a moving body and recognizes a lighting state of a traffic light comprises: an imaging unit that periodically images an external field of the moving body; a detection unit that sequentially detects a lighting mode of the traffic light included in each image periodically obtained by the imaging unit; and a determination unit that determines the lighting mode as the lighting state of the traffic signal when the same lighting mode of the traffic signal is continuously detected by the detection unit for a predetermined time, wherein the predetermined time is at least twice an imaging period of the imaging unit.SELECTED DRAWING: Figure 2 【課題】撮像部を用いて認識される信号機の点灯状況の信頼性を向上させることが可能な技術を提供する。【解決手段】移動体に搭載され、信号機の点灯状況を認識する認識装置は、前記移動体の外界を周期的に撮像する撮像部と、前記撮像部で周期的に得られる画像ごとに、画像内に含まれる前記信号機の点灯態様を逐次検出する検出部と、前記検出部により前記信号機の同じ点灯態様が所定時間継続して検出された場合に、当該点灯態様を前記信号機の点灯状況として決定する決定部と、を備え、前記所定時間は、前記撮像部の撮像周期の２倍以上である。【選択図】図２