END-TO-END SIGNALIZED INTERSECTION TRANSITION STATE ESTIMATOR WITH SCENE GRAPHS OVER SEMANTIC KEYPOINTS

Systems, methods, computer-readable media, techniques, and methodologies are disclosed for performing end-to-end, learning-based keypoint detection and association. A scene graph of a signalized intersection is constructed from an input image of the intersection. The scene graph includes detected keypoints and linkages identified between the keypoints. The scene graph can be used along with a vehicle's localization information to identify which keypoint that represents a traffic signal is associated with the vehicle's current travel lane. An appropriate vehicle action may then be determined based on a transition state of the traffic signal keypoint and trajectory information for the vehicle. A control signal indicative of this vehicle action may then be output to cause an autonomous vehicle, for example, to implement the appropriate vehicle action.