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traffic_light_fine_detector#

Purpose#

It is a package for traffic light detection using YoloX-s.

Training Information#

Pretrained Model#

The model is based on YOLOX and the pretrained model could be downloaded from here.

Training Data#

The model was fine-tuned on around 17,000 TIER IV internal images of Japanese traffic lights.

Trained Onnx model#

You can download the ONNX file using these instructions.
Please visit autoware-documentation for more information.

Inner-workings / Algorithms#

Based on the camera image and the global ROI array detected by map_based_detection node, a CNN-based detection method enables highly accurate traffic light detection.

Inputs / Outputs#

Input#

Name Type Description
~/input/image sensor_msgs/Image The full size camera image
~/input/rois tier4_perception_msgs::msg::TrafficLightRoiArray The array of ROIs detected by map_based_detector
~/expect/rois tier4_perception_msgs::msg::TrafficLightRoiArray The array of ROIs detected by map_based_detector without any offset

Output#

Name Type Description
~/output/rois tier4_perception_msgs::msg::TrafficLightRoiArray The detected accurate rois
~/debug/exe_time_ms tier4_debug_msgs::msg::Float32Stamped The time taken for inference

Parameters#

Core Parameters#

Name Type Default Value Description
fine_detector_score_thresh double 0.3 If the objectness score is less than this value, the object is ignored
fine_detector_nms_thresh double 0.65 IoU threshold to perform Non-Maximum Suppression

Node Parameters#

Name Type Default Value Description
data_path string "$(env HOME)/autoware_data" packages data and artifacts directory path
fine_detector_model_path string "" The onnx file name for yolo model
fine_detector_label_path string "" The label file with label names for detected objects written on it
fine_detector_precision string "fp32" The inference mode: "fp32", "fp16"
approximate_sync bool false Flag for whether to ues approximate sync policy
gpu_id integer 0 ID for the selecting CUDA GPU device

Assumptions / Known limits#

Reference repositories#

YOLOX github repository