Detecting traffic signaling states with neural networks

A computing system for detecting a signaling state of a traffic signaling unit, the computing system comprising:

• one or more data processing apparatuses;
• and
• one or more computer-readable media having instructions stored thereon that, when executed by the one or more data processing apparatuses, cause performance of operations comprising:
• obtaining an image of the traffic signaling unit;
• selecting a model of the traffic signaling unit that identifies a position of each traffic lighting element on the traffic signaling unit;
• processing, with a neural network, a first neural network input and a second neural network input to generate an estimated signaling state of the traffic signaling unit, wherein the first neural network input represents the image of the traffic signaling unit, and the second neural network input represents the model of the traffic signaling unit;
• and
• using the estimated signaling state of the traffic signaling unit to inform a driving decision of a vehicle.

One or more non-transitory computer-readable media having instructions stored thereon that, when executed by one or more data processing apparatuses, cause performance of operations comprising:

• obtaining an image of the traffic signaling unit;
• selecting a model of the traffic signaling unit that identifies a position of each traffic lighting element on the traffic signaling unit;
• processing, with a neural network, a first neural network input and a second neural network input to generate an estimated signaling state of the traffic signaling unit, wherein the first neural network input represents the image of the traffic signaling unit, and the second neural network input represents the model of the traffic signaling unit;
• and
• using the estimated signaling state of the traffic signaling unit to inform a driving decision of a vehicle.