Bosch Small Traffic Lights Dataset

Bosch Small Traffic Lights Dataset is an accurate dataset for vision-based traffic light detection. Vision-only based traffic light detection and tracking is a vital step on the way to fully automated driving in urban environments. This dataset allows for easy testing of objection detection approaches, especially for small objects in larger images.

The scenes cover a decent variety of road scenes and typical difficulties: Busy street scenes inner-city, Suburban multilane roads with varying traffic density, Dense stop-and-go traffic, Road-works, Strong changes in illumination/exposure, Overcast sky with light rain, Flickering/Fluctuating traffic lights, Multiple visible traffic lights, Image parts that can be confused with traffic lights (e.g. large round tail lights) Please fill out a form at to access the dataset, a download link will be sent to your e-mail.

Data and Resources

Additional Info

Field Value
Author Bosch North America Research department
Maintainer Bosch North America Research department
Number of Instances 1
Package Description This dataset contains 13427 camera images at a resolution of 1280x720 pixels and contains about 24000 annotated traffic lights. The annotations include bounding boxes of traffic lights as well as the current state (active light) of each traffic light. The camera images are provided as raw 12bit HDR images taken with a red-clear-clear-blue filter and as reconstructed 8-bit RGB color images. The RGB images are provided for debugging and can also be used for training. However, the RGB conversion process has some drawbacks. Some of the converted images may contain artifacts and the color distribution may seem unusual.
Dataset has missing values False