Shixin Li Kun Wang Fankai Chen Yue Meng Research on traffic light target detection method based on improved YOLOv5 algorithm. 351-356 2023 EITCE https://doi.org/10.1145/3650400.3650457 https://www.wikidata.org/entity/Q130930123 conf/eitce/2023 db/conf/eitce/eitce2023.html#LiWCM23