국내 도심에서 자율주행을 위한 신호등 인식 모듈 및 데이터 셋 구축 프로세스 설계

Abstract

In the context of urban autonomous driving, where various types of traffic lights are encountered, traffic light recognition technology is of paramount importance. We have designed a high-performance traffic light recognition module tailored to scenarios encountered in domestic urban driving and devised a dataset construction process. In this paper, we focus on minimizing the camera's dependency to enhance traffic light recognition performance. The camera is used solely to distinguish the color information of traffic lights, while accurate location information of the traffic lights is obtained through localization and a map. Based on the information from these components, camera RoIs (Region of Interest) are extracted and transmitted to the embedded board. The transmitted images are then sent back to the main system for autonomous driving control. The processing time for one traffic light RoI averages 43.2 ms. We achieve processing times of average 93.4 ms through batch inference to meet real-time requirements. Additionally, we design a data construction process for collecting, refining, and storing traffic light datasets, including semi-annotation-based corrections.