Traffic Light Recognition Using Deep Learning and Prior Maps for Autonomous Cars

November 2020

tl;dr: Build traffic light map offline with lidar and use it to guide online perception.

Overall impression

This paper is not fancy but is quite practical with many engineering details.

The main challenges for TFL

Maps can be used to only trigger TFL recognition module near intersections. This saves computation and avoid false positives but this unfortunately disables map building capability from fleet cars.

Key ideas

Technical details