The S2TLD dataset contains five categories (including red, yellow, green, off, and waiting). It covers a wide range of road scenarios, such as busy street scenes, multiple visible traffic lights, and traffic tail lights that may be confused with traffic lights (e.g., large circular tail lights, etc.). A link to the original dataset: https://github.com/Thinklab-SJTU/S2TLD We randomly divided it into new training set, verification set and test set in a ratio close to 7:2:1.

{"references": ["available at: https://doi.org/10.48550/arXiv.2004.13316"]}