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Traffic light detection from a moving vehicle is an important technology both for new safety driver assistance functions as well as for autonomous driving in the city. In this paper we present a machine learning framework for detection of traffic lights that can handle in real-time both day and night situations in a unified manner. A semantic segmentation method is employed to generate traffic light candidates, which are then confirmed and classified by a geometric and color features based classifier. Temporal consistency is enforced by using a tracking by detection method.

Semantic Segmentation Based Traffic Light Detection at Day and at Night