Multi-camera traffic light recognition using a classifying Labeled Multi-Bernoulli filter

The correct handling of complex traffic-light-controlled intersections is still a challenge for automated vehicles. While a number of image-based approaches tackle close-range recognitions, an early traffic light detection at high distances is of great importance in the area of energy-efficient driving. For this reason, a traffic light detection system consisting of multiple on-board cameras is presented in this work, enabling the detection of traffic lights even from a distance of more than 200m. Furthermore, the presented system is based on tracking techniques using a Labeled Multi-Bernoulli filter in combination with the fusion of classifications based on the Dempster-Shafer theory of evidence. The system was tested on a real world data set collected in Germany and an increase in performance was demonstrated by a multi-camera approach.