Trigger Exposure Time Image Capture Time fixed fixedcontrolled controlled Low Exposure Normal Exposure Low Exposure Normal Exposure

This paper proposes a multiple exposure images based traffic light recognition method. For traffic light recognition, color segmentation is widely used to detect traffic light signals; however, the color in an image is easily affected by various illuminations and leads to incorrect recognition results. In order to overcome the problem, we propose the multiple exposure technique which enhances the robustness of the color segmentation and recognition accuracy by integrating both low and normal exposure images. The technique solves the color saturation problem and reduces false positives since the low exposure image is exposed for a short time. Based on candidate regions selected from the low exposure image, the status of six three and four bulb traffic lights in a normal image are classified utilizing a support vector machine with a histogram of oriented gradients. Our algorithm was finally evaluated in various urban scenarios and the results show that the proposed method works robustly for outdoor environments.