[Patent application number] 20110182475 [Published] 07-28-2011 [Description] 
TRAFFIC SIGNAL MAPPING AND DETECTION - A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal.