An example method comprises obtaining information regarding a motion of a vehicle traversing the traffic intersection during a time window using video frames or image frames of the vehicle obtained by a traffic camera, obtaining roadway delineation information indicative of a traffic lane at the traffic intersection, wherein the roadway delineation information corresponds to the motion of the vehicle as indicated in the video frames or image frames of the vehicle obtained by the traffic camera, obtaining traffic light information of a traffic light at the traffic intersection, the traffic light information corresponding to the time window during which the vehicle traverses the traffic intersection, wherein the traffic light information indicates timing of the traffic light, and determining the traffic signal-to-lane association by using the information regarding the motion of the vehicle, the roadway delineation information, and the traffic light information to associate the traffic lane with the traffic light.