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The outdoor perception problem is a major challenge for driver-assistance and autonomous vehicle systems. While these systems can often employ active sensors such as sonar, radar, and lidar to perceive their surroundings, the state of standard traffic lights can only be perceived visually. By using a prior map, a perception system can anticipate and predict the locations of traffic lights and improve detection of the light state. The prior map also encodes the control semantics of thedoi:10.1109/icra.2011.5980164 dblp:conf/icra/FairfieldU11 fatcat:j5cisrb4nvfwzhovdh34fealna