# A 360-degree Multi-camera System for Blue Emergency Light Detection Using Color Attention RT-DETR and the ABLDataset

arXiv: https://arxiv.org/abs/2603.05058 · HTML: https://mlsanity.com/paper/2603.05058/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 18 of its 63 references that are in the map.
- First posted on arXiv 5 Mar 2026.

## Builds on (most cited first, 18 of 18)

- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [DETRs Beat YOLOs on Real-time Object Detection](https://mlsanity.com/paper/2304.08069/) (2023)
- [Object Detection in 20 Years: A Survey](https://mlsanity.com/paper/1905.05055/) (2019)
- [Object Detection with Deep Learning: A Review](https://mlsanity.com/paper/1807.05511/) (2018)
- [YOLOv10: Real-Time End-to-End Object Detection](https://mlsanity.com/paper/2405.14458/) (2024)
- [Deep Learning for Generic Object Detection: A Survey](https://mlsanity.com/paper/1809.02165/) (2018)
- [Self-Driving Cars: A Survey](https://mlsanity.com/paper/1901.04407/) (2019)
- [TAO: A Large-Scale Benchmark for Tracking Any Object](https://mlsanity.com/paper/2005.10356/) (2020)
- [WoodScape: A multi-task, multi-camera fisheye dataset for autonomous driving](https://mlsanity.com/paper/1905.01489/) (2019)
- [YouTube-BoundingBoxes: A Large High-Precision Human-Annotated Data Set for Object Detection in Video](https://mlsanity.com/paper/1702.00824/) (2017)
- [OmniDet: Surround View Cameras based Multi-task Visual Perception Network for Autonomous Driving](https://mlsanity.com/paper/2102.07448/) (2021)
- [Surround-view Fisheye Camera Perception for Automated Driving: Overview, Survey and Challenges](https://mlsanity.com/paper/2205.13281/) (2022)
- [YOLOv5, YOLOv8 and YOLOv10: The Go-To Detectors for Real-time Vision](https://mlsanity.com/paper/2407.02988/) (2024)
- [Vision-based Driver Assistance Systems: Survey, Taxonomy and Advances](https://mlsanity.com/paper/2104.12583/) (2021)
- [Run-time Introspection of 2D Object Detection in Automated Driving Systems Using Learning Representations](https://mlsanity.com/paper/2403.01172/) (2024)
- [ADD: An Automatic Desensitization Fisheye Dataset for Autonomous Driving](https://mlsanity.com/paper/2308.07590/) (2023)

## Abstract (arXiv)

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 incorporation of a color attention block, achieving an accuracy of 94.7 percent and a recall of 94.1 percent on the test set, with field test detections reaching up to 70 meters. Furthermore, the system estimates the approach angle of the emergency vehicle relative to the center of the car using geometric transformations. Designed for integration into a multimodal system that combines visual and acoustic data, this system has demonstrated high efficiency, offering a promising approach to enhancing Advanced Driver Assistance Systems (ADAS) and road safety.