A 360-degree Multi-camera System for Blue Emergency Light Detection Using Color Attention RT-DETR and the ABLDataset
This study presents an advanced system for detecting blue lights on emergency vehicles, developed using ABLDataset, a curated dataset that includes images of European emergency vehicles under various climatic and geographic conditions. The system employs a configuration of four fisheye cameras, each with a 180-degree horizontal field of view, mounted on the sides of the vehicle. A calibration process enables the azimuthal localization of the detections. Additionally, a comparative analysis of major deep neural network algorithms was conducted, including YOLO (v5, v8, and v10), RetinaNet, Faster R-CNN, and RT-DETR. RT-DETR was selected as the base model and enhanced through the incorporati...
| Authors | Francisco Vacalebri-Lloret, Lucas Banchero, Jose J. Lopez et al. |
|---|---|
| Primary category | cs.CV |
| Published | 5 March 2026 |
| Last updated at source | 5 March 2026 |
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