期刊名称：International Journal of Distributed Sensor Networks
印刷版ISSN：1550-1329
电子版ISSN：1550-1477
出版年度：2021
卷号：17
期号：5
页码：1
DOI：10.1177/15501477211018374
出版社：Hindawi Publishing Corporation
摘要：Image recognition is susceptible to interference from the external environment. It is challenging to accurately and reliably recognize traffic lights in all-time and all-weather conditions. This article proposed an improved vision-based traffic lights recognition algorithm for autonomous driving, integrating deep learning and multi-sensor data fusion assist (MSDA). We introduce a method to obtain the best size of the region of interest (ROI) dynamically, including four aspects. First, based on multi-sensor data (RTK BDS/GPS, IMU, camera, and LiDAR) acquired in a normal environment, we generated a prior map that contained sufficient traffic lights information. And then, by analyzing the relationship between the error of the sensors and the optimal size of ROI, the adaptively dynamic adjustment (ADA) model was built. Furthermore, according to the multi-sensor data fusion positioning and ADA model, the optimal ROI can be obtained to predict the location of traffic lights. Finally, YOLOv4 is employed to extract and identify the image features. We evaluated our algorithm using a public data set and actual city road test at night. The experimental results demonstrate that the proposed algorithm has a relatively high accuracy rate in complex scenarios and can promote the engineering application of autonomous driving technology.
关键词：Traffic lights recognition; ADA model; autonomous driving; multi-sensor data fusion; deep learning
其他关键词：Traffic lights recognition ; ADA model ; autonomous driving ; multi-sensor data fusion ; deep learning
