An Efficient Color Space for Deep-Learning Based Traffic Light Recognition

Table 1

Color space and verification/classification used in previous traffic light detection.

Ref. #	Color space	Verification / Classification
[2], [3]	Gray-scale	Template matching
[4]	RGB	K-means clustering, Circularity check
[5]	RGB	Region growing, Color segmentation
[6]	Normalized RGB	Color segmentation, Circle Hough transform
[7]	Ruta’s RGB	SVM
[8]	YCbCr	Adaboost
[9]	YCbCr	Decision-tree classifier
[10]	HSI	Gaussian mask, Existence-Weight Map
[11]	HSV	Template matching
[14]	CIE Lab	Fast radial symmetry transform
[12]	HSV	SVM
[13]	HSL	SVM
[15]	Normalized RGB, RGB	Color clustering
[16]	Normalized RGB, RGB	Fuzzy logic clustering
[17]	RGB, YCbCr	Nearest neighbor classifier
[18]	RGB, HSV	LDA, kNN, SVM
[53]	CIE Lab	SVM, LeNet, AlexNet
[52]	HSV	SVM, Simple CNN
[54]	RGB	YOLO v1
[55]	RGB	YOLO 9000