Deep Traffic Light Detection for Self-driving Cars from a Large-scale Dataset
2018 21st International Conference on Intelligent Transportation Systems (ITSC)(2018)
摘要
Traffic lights perception problem is one of the key challenges for autonomous vehicle controllers in urban areas. While a number of approaches for traffic light detection have been proposed, these methods often require a prior knowledge of map and/or show high false positive rates. Recent successes suggest that deep neural networks will be widely used in self-driving cars, but current public datasets do not provide sufficient amount of labels for training such large deep neural networks. In this paper, we developed a two-step computational method that can detect traffic lights from images in a real-time manner. The first step exploits a deep neural object detection architecture to fine true traffic light candidates. In the second step, a point-based reward system is used to eliminate false traffic lights out of the candidates. To evaluate the proposed approach, we collected a human-annotated large-scale traffic lights dataset (over 60 hours). We also designed a real-world experiment with an instrumented self-driving vehicle and observed that the proposed method was able to handle false traffic lights substantially better compared with the baseline considered.
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关键词
deep traffic light detection,self-driving cars,traffic lights perception problem,autonomous vehicle controllers,deep neural networks,two-step computational method,deep neural object detection architecture,false traffic lights,large-scale traffic lights,self-driving vehicle,true traffic light candidates
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