@ARTICLE{7289400,
  author={Shi, Zhenwei and Zou, Zhengxia and Zhang, Changshui},
  journal={IEEE Transactions on Intelligent Transportation Systems}, 
  title={Real-Time Traffic Light Detection With Adaptive Background Suppression Filter}, 
  year={2016},
  volume={17},
  number={3},
  pages={690-700},
  doi={10.1109/TITS.2015.2481459}}