Bosch Small Traffic Lights Dataset

Abstract

We present the Bosch Small Traffic Lights Dataset, an accurate dataset for vision-based traffic light detection. Vision-only based traffic light detection and tracking is a vital step on the way to fully automated driving in urban environments. We hope that this dataset allows for easy testing of objection detection approaches, especially for small objects in larger images. The scenes cover a decent variety of road scenes and typical difficulties:

Busy street scenes inner-city

Suburban multilane roads with varying traffic density

Dense stop-and-go traffic

Road-works

Strong changes in illumination/exposure

Overcast sky with light rain

Flickering/Fluctuating traffic lights

Multiple visible traffic lights

Image parts that can be confused with traffic lights (e.g. large round tail lights)

Example images:

https://zenodo.org/records/12706046/preview/examples_small2.jpg

Preview Video: 

https://youtu.be/P7j6XFmImAg