# Robust Traffic Light and Arrow Detection Using Digital Map with Spatial Prior Information for Automated Driving

> Research article (Sensors, 2020) · cited 32× · AI/ML

**Wikidata**: [openalex:W3007289063](https://www.wikidata.org/wiki/openalex:W3007289063)  
**Source**: https://4ort.xyz/entity/robust-traffic-light-and-arrow-detection-using-digital-map-with-spatial-prior-information-for-automated-driving