Traffic Light Signal Detection: A Study

Abstract

This paper presents a study on the use of a monocular video camera for traffic lights detection, in a variety of conditions, including adverse weather and illumination. The study emphasizes on the system incorporating a color pre-processing module to enhance the discrimination of red and green regions in the image and handle the “blooming effect” that is often observed in such scenes. The study also illustrates that the fast radial symmetry transform is utilized for the detection of traffic light candidates and finally false positive results are minimized using spatiotemporal persistency verification over many years.