Traffic Light Detection

[jpkolly]

Hi I would like to get the traffic light detection working. Could I get some guidance on how to complete the task?

[TUMGEKA]

Hey @kollyjp23 ! Autowares traffic light detection is map-based. So the lanelet2 needs to have the information about the traffic light position and the lanes influenced by the traffic light. You can look at the examples autoware provides and try to add the necessary traffic lights to a carla town. Right now our map conversion does not support it. If you want to invest the time adding the traffic lights, let me know, I many people from the community would benefit from it.

[jpkolly]

@TUMGEKA Sounds good! I will look into it and see if I can get it working.

[TUMGEKA]

Here you can find some guidance: https://autowarefoundation.github.io/autoware.universe/latest/simulator/autoware_carla_interface/#traffic-light-recognition

[jz230-user]

@TUMGEKA Hello! I am also currently working on the traffic light detection by trying to use the Autoware traffic light fine detector (removing the roi dependency from the map-based detector) please let me know if you have any leads on this method or the approach to convert maps with traffic light data is the only way?

[TUMGEKA]

Hey @jz230-user! I think that even the fine detector needs a rough roi of the traffic lights in the map. I dont thinkt its possible to detect traffic lights completely map free.

[jz230-user]

@TUMGEKA Thanks for your reply! I will also focus more on the map conversion then!

[TUMGEKA]

@jz230-user I think the easiest way is to translate the carla town so that its only in one military grid. And then you can use the tier4 vector map builder to add traffic lights.