{"id":"https://openalex.org/W2908896109","doi":"https://doi.org/10.1109/tmc.2019.2892451","title":"Deep CNN-Based Real-Time Traffic Light Detector for Self-Driving Vehicles","display_name":"Deep CNN-Based Real-Time Traffic Light Detector for Self-Driving Vehicles","publication_year":2019,"publication_date":"2019-01-14","ids":{"openalex":"https://openalex.org/W2908896109","doi":"https://doi.org/10.1109/tmc.2019.2892451","mag":"2908896109"},"language":"en","primary_location":{"id":"doi:10.1109/tmc.2019.2892451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2019.2892451","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Mobile Computing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090872855","display_name":"Zhenchao Ouyang","orcid":"https://orcid.org/0000-0003-1304-5366"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenchao Ouyang","raw_affiliation_strings":["State Key Laboratory of Software Development Environment, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Software Development Environment, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053316728","display_name":"Jianwei Niu","orcid":"https://orcid.org/0000-0003-3946-5107"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwei Niu","raw_affiliation_strings":["State Key Laboratory of Virtual Reality Technology and Systems, Beijing Advanced Innovation Center for Big Data and Brain Computing (BDBC), Hangzhou Innovation Institute, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and Systems, Beijing Advanced Innovation Center for Big Data and Brain Computing (BDBC), Hangzhou Innovation Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100345645","display_name":"Yu Liu","orcid":"https://orcid.org/0000-0001-7599-612X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Liu","raw_affiliation_strings":["State Key Laboratory of Software Development Environment, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Software Development Environment, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057916222","display_name":"Mohsen Guizani","orcid":"https://orcid.org/0000-0002-8972-8094"},"institutions":[{"id":"https://openalex.org/I60342839","display_name":"Qatar University","ror":"https://ror.org/00yhnba62","country_code":"QA","type":"education","lineage":["https://openalex.org/I60342839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Mohsen Guizani","raw_affiliation_strings":["College of Engineering, Qatar University, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"College of Engineering, Qatar University, Doha, Qatar","institution_ids":["https://openalex.org/I60342839"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090872855"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":8.1502,"has_fulltext":false,"cited_by_count":147,"citation_normalized_percentile":{"value":0.97710763,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"19","issue":"2","first_page":"300","last_page":"313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8357573747634888},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.620026171207428},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.6035544276237488},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5903069376945496},{"id":"https://openalex.org/keywords/unavailability","display_name":"Unavailability","score":0.4490703344345093},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4432210326194763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43004825711250305},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3976626694202423},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3450981676578522},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10470646619796753},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09211862087249756}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8357573747634888},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.620026171207428},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.6035544276237488},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5903069376945496},{"id":"https://openalex.org/C2780505938","wikidata":"https://www.wikidata.org/wiki/Q17093282","display_name":"Unavailability","level":2,"score":0.4490703344345093},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4432210326194763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43004825711250305},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3976626694202423},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3450981676578522},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10470646619796753},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09211862087249756},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tmc.2019.2892451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2019.2892451","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Mobile Computing","raw_type":"journal-article"},{"id":"pmh:oai:qspace.qu.edu.qa:10576/37541","is_oa":false,"landing_page_url":"https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85078297703&origin=inward","pdf_url":null,"source":{"id":"https://openalex.org/S4306400014","display_name":"Qatar University QSpace (Qatar University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60342839","host_organization_name":"Qatar University","host_organization_lineage":["https://openalex.org/I60342839"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G1809830838","display_name":null,"funder_award_id":"61572060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3783014381","display_name":null,"funder_award_id":"SKLSDE-2017ZX-18","funder_id":"https://openalex.org/F4320326978","funder_display_name":"State Key Laboratory of Software Development Environment"},{"id":"https://openalex.org/G4048028816","display_name":null,"funder_award_id":"61728201","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G840777561","display_name":null,"funder_award_id":"61772060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326978","display_name":"State Key Laboratory of Software Development Environment","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W146482154","https://openalex.org/W639708223","https://openalex.org/W1559773506","https://openalex.org/W1562810981","https://openalex.org/W1598866093","https://openalex.org/W1601052977","https://openalex.org/W1686810756","https://openalex.org/W1849277567","https://openalex.org/W1927391347","https://openalex.org/W1985791174","https://openalex.org/W2076313826","https://openalex.org/W2097117768","https://openalex.org/W2117539524","https://openalex.org/W2126628495","https://openalex.org/W2139505542","https://openalex.org/W2149344111","https://openalex.org/W2163605009","https://openalex.org/W2194775991","https://openalex.org/W2205299708","https://openalex.org/W2279098554","https://openalex.org/W2291942460","https://openalex.org/W2292685297","https://openalex.org/W2460736120","https://openalex.org/W2512944926","https://openalex.org/W2534186952","https://openalex.org/W2564042453","https://openalex.org/W2565639579","https://openalex.org/W2606518250","https://openalex.org/W2612597820","https://openalex.org/W2613718673","https://openalex.org/W2737202447","https://openalex.org/W2739574231","https://openalex.org/W2762219805","https://openalex.org/W2764155154","https://openalex.org/W2769268828","https://openalex.org/W2783475375","https://openalex.org/W2805759392","https://openalex.org/W2950800384","https://openalex.org/W2962787423","https://openalex.org/W2963037989","https://openalex.org/W2963446712","https://openalex.org/W2963911037","https://openalex.org/W3106250896","https://openalex.org/W6605976691","https://openalex.org/W6620707391","https://openalex.org/W6635810480","https://openalex.org/W6638444622","https://openalex.org/W6639204139","https://openalex.org/W6674914833","https://openalex.org/W6684191040","https://openalex.org/W6714138976","https://openalex.org/W6737866648","https://openalex.org/W6745580566","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W4237235066","https://openalex.org/W207884067","https://openalex.org/W3127016596","https://openalex.org/W4226493464","https://openalex.org/W4312417841","https://openalex.org/W3193565141","https://openalex.org/W3133861977","https://openalex.org/W3167935049","https://openalex.org/W3103566983","https://openalex.org/W3029198973"],"abstract_inverted_index":{"Due":[0],"to":[1,72,86],"the":[2,58,88,94,98],"unavailability":[3],"of":[4,36,44,65,153],"Vehicle-to-Infrastructure":[5],"(V2I)":[6],"communication":[7],"in":[8,22,141],"current":[9],"transportation":[10],"systems,":[11],"Traffic":[12],"Light":[13],"Detection":[14],"(TLD)":[15],"is":[16],"still":[17],"considered":[18],"an":[19,149],"important":[20],"module":[21,71,121,178],"autonomous":[23,59],"vehicles":[24],"and":[25,34,40,52,78,101,113,138,157,165],"Driver":[26],"Assistance":[27],"Systems":[28],"(DAS).":[29],"To":[30],"overcome":[31],"low":[32],"flexibility":[33],"accuracy":[35,112,152],"vision-based":[37],"heuristic":[38,67],"algorithms":[39],"high":[41],"power":[42],"consumption":[43],"deep":[45],"learning-based":[46],"methods,":[47],"we":[48,126],"propose":[49],"a":[50,66,79,139],"lightweight":[51,80],"real-time":[53],"traffic":[54,76,143,175],"light":[55,176],"detector":[56,120],"for":[57],"vehicle":[60,134],"platform.":[61],"Our":[62,145],"model":[63,108,146],"consists":[64],"candidate":[68],"region":[69],"selection":[70],"identify":[73],"all":[74],"possible":[75],"lights,":[77],"Convolution":[81],"Neural":[82],"Network":[83],"(CNN)":[84],"classifier":[85],"classify":[87],"results":[89],"obtained.":[90],"Offline":[91],"simulations":[92],"on":[93,122,130,163],"GPU":[95],"server":[96],"with":[97,190],"collected":[99],"dataset":[100],"several":[102],"public":[103],"datasets":[104],"show":[105,172],"that":[106,173],"our":[107,119,174],"achieves":[109],"higher":[110],"average":[111,150],"less":[114],"time":[115],"consumption.":[116],"By":[117],"integrating":[118],"NVidia":[123],"Jetson":[124],"TX1/TX2,":[125],"conduct":[127],"on-road":[128,169],"tests":[129,170],"two":[131],"full-scale":[132],"self-driving":[133],"platforms":[135],"(a":[136],"car":[137],"bus)":[140],"normal":[142],"conditions.":[144],"can":[147,179],"achieve":[148,180],"detection":[151,177],"99.3":[154],"percent":[155,159],"(mRttld)":[156],"99.7":[158],"(Rttld)":[160],"at":[161,185],"10Hz":[162],"TX1":[164],"TX2,":[166],"respectively.":[167],"The":[168],"also":[171],"<;":[181],"+":[182],"1:5m":[183],"errors":[184],"stop":[186],"lines":[187],"when":[188],"working":[189],"other":[191],"selfdriving":[192],"modules.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":31},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":24},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}