Our current neural network looks pretty promising. It can handle most lighting conditions and only starts to get iffy in direct sunlight. This is running on a Raspberry Pi 4 with the Coral USB accelerator and Microsoft HD-3000 webcam. We can achieve roughly 30 fps with 75% CPU usage on one core.
We trained on all 5000 images provided by FIRST for 500 epochs. However, we did not use the provided training scripts and instead opted to write our own. It was based on the demo object detection scripts provided by Coral and modified to use our dataset.