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autoware_traffic_light_fine_detector package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags	No category tags.
Version	0.46.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_traffic_light_fine_detector package

Additional Links

No additional links.

Maintainers

Tao Zhong
Yoshi Ri
Shintaro Tomie
Masato Saeki
Taekjin Lee

Authors

No additional authors.

perception/autoware_traffic_light_fine_detector/README.md

autoware_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_detector node, a CNN-based detection method enables highly accurate traffic light detection. If can not detect traffic light, x_offset, y_offset, height and width of output ROI become 0. ROIs detected from YOLOX will be selected by a combination of expect/rois. At this time, evaluate the whole as ROIs, not just the ROI alone.

Inputs / Outputs

Input

Name	Type	Description
`~/input/image`	`sensor_msgs::msg::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, used to select the best detection results

Output

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

Parameters

{{ json_to_markdown(“perception/autoware_traffic_light_fine_detector/schema/traffic_light_fine_detector.schema.json”) }}

Assumptions / Known limits

Reference repositories

YOLOX github repository

https://github.com/Megvii-BaseDetection/YOLOX

CHANGELOG

Changelog for package autoware_traffic_light_fine_detector

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages
Contributors: Taekjin LEE, TaikiYamada4

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
chore(perception): refactor perception launch (#10186)
- fundamental change
- style(pre-commit): autofix
- fix typo
- fix params and modify some packages
- pre-commit
- fix
- fix spell check
- fix typo
- integrate model and label path
- style(pre-commit): autofix
- for pre-commit
- run pre-commit
- for awsim
- for simulatior
- style(pre-commit): autofix
- fix grammer in launcher
- add schema for yolox_tlr
- style(pre-commit): autofix
- fix file name
- fix
- rename
- modify arg name to
- fix typo
- change param name
- style(pre-commit): autofix
* chore

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>
refactor: add autoware_cuda_dependency_meta (#10073)
Contributors: Esteve Fernandez, Hayato Mizushima, Masato Saeki, Yutaka Kondo

0.42.0 (2025-03-03)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: refine maintainer list (#10110)
- chore: remove Miura from maintainer
* chore: add Taekjin-san to perception_utils package maintainer ---------
feat(autoware_traffic_light_fine_detector): created the schema file,updated the readme file and deleted the default parameter in node files code (#10106)
- feat(autoware_traffic_light_fine_detector): Created the schema file, updated the readme file and deleted the default parameter in node files code
- style(pre-commit): autofix
- fix declare_parameter
- chore
- change launch file
- change type
- style(pre-commit): autofix
- fix definition name

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	autoware_cmake
	ament_cmake_auto
	autoware_lint_common
	autoware_cuda_dependency_meta
	autoware_internal_debug_msgs
	autoware_tensorrt_yolox
	cv_bridge
	image_transport
	message_filters
	rclcpp
	rclcpp_components
	sensor_msgs
	tier4_perception_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
tier4_perception_launch

Launch files

launch/traffic_light_fine_detector.launch.xml
- - data_path [default: $(env HOME)/autoware_data]
  - input/image [default: /image_raw]
  - input/rois [default: /traffic_light_map_based_detector/output/rois]
  - expect/rois [default: ~/expect/rois]
  - output/rois [default: ~/output/rois]
  - param_path [default: $(find-pkg-share autoware_traffic_light_fine_detector)/config/traffic_light_fine_detector.param.yaml]
  - model_path [default: $(var data_path)/traffic_light_fine_detector/tlr_car_ped_yolox_s_batch_6.onnx]
  - label_path [default: $(var data_path)/traffic_light_fine_detector/tlr_labels.txt]
  - build_only [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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