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 ## Overview
 This repository contains TensorFlow implementation of traffic light detection and classification task for Udacity annotated self-driving dataset.
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 ### Method
 In order to detect traffic lights, a pre-trained model is used (Single Shot Multibox Detector (SSD) with Inception v2 from the TensorFlow Zoo on MS-COCO dataset).  The object detector is lightweight. However, the detection accuracy is not high under some conditions such as occlusion. More complex object detectors can perform better.