Traffic Lights Detection Based on Deep Learning Feature

Abstract

Traffic lights detection is an important task for intelligent vehicles. It is non-trivial due to variance backgrounds and illumination conditions. Therefore, a traffic lights detection system that can apply to different scenes is necessary. In this paper, we research the traffic lights detection based on deep learning, which can extract features with representation and robustness from input image automatically and avoid using artificial features. The approach of traffic lights detection proposed in this paper includes two stages: (1) region proposal and (2) classification of traffic lights. Firstly, we propose a region proposal method based on intensity, color, and geometric information of traffic lights. Secondly, convolutional neural network (CNN) was introduced for the traffic lights classification, obtaining 99.6% average accuracy. For detection, we evaluate our system on 6804 images of different scenes, the recall and accuracy of detection achieve 99.2% and 98.5% respectively.