S2TLD is a traffic light dataset, which contains 5,786 images of approximately 1,080 * 1,920 pixels and 720 * 1,280 pixels. It also contains 5 categories (include red, yellow, green, off and wait on) of 1,4130 instances. The scenes cover a decent variety of road scenes and typical: * Busy street scenes inner-city, * Dense stop-and-go traffic * Strong changes in illumination/exposure * Flickering/Fluctuating traffic lights * Multiple visible traffic lights * Image parts that can be confused with traffic lights (e.g. large round tail lights)