@article{vatldavisualanalyticssystemtoassess,
  title = {VATLD: A Visual Analytics System to Assess, Understand and Improve Traffic Light Detection},
  author = {Liang Gou and Lincan Zou and Nanxiang Li and Michael Hofmann and Arvind Kumar Shekar and Axel Wendt and Liu Ren},
  year = {2020},
  eprint = {2009.12975},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2009.12975v1},
}