In traffic light detection a number of possible approachesmay be adopted.
The common one would be to use edge detectors.
The brightness of the traffic light should enable it to bedetected with reasonable ease.
However it would be difficult to first ensure that the edge points representing a traffic light is a close boundary.
Second it is further processing is required to identify the location of the light out of the usually complex edge map (Fig. 3).
On the other hand, region detection allows color to be taken into account.
Besides region detection always ends up with closed regions which require no further processing.
For this reason our approach focuses on the detection of colored regions.