An improved convolutional neural network model for traffic light and crosswalk detection and localization using visual information from a vehicular camera is proposed. Yolov4 darknet and its pretrained model are used in transfer learning using our datasets of traffic lights and crosswalks; the trained model is supposed to be used for red-light running detection of the preceding vehicle. Experimental results, compared to the result of the pretrained model learned only from the Microsoft COCO dataset, showed an improved performance of traffic light detection on our test images which were taken under various lighting conditions and interferences; 36.91% higher recall and 39.21% less false positive rate. The crosswalk, which is incapable of detection in the COCO model, could be detected with 93.37% recall and 7.74% false-positive rate.
