Real-time color/shape-based traffic signs acquisition and recognition system

A real-time system is proposed to acquire from an automotive fish-eye CMOS camera the traffic signs, and provide their automatic recognition on the vehicle network. Differently from the state-of-the-art, in this work color-detection is addressed exploiting the HSI color space which is robust to lighting changes. Hence the first stage of the processing system implements fish-eye correction and RGB to HSI transformation. After color-based detection a noise deletion step is implemented and then, for the classification, a template-based correlation method is adopted to identify potential traffic signs, of different shapes, from acquired images. Starting from a segmented-image a matching with templates of the searched signs is carried out using a distance transform. These templates are organized hierarchically to reduce the number of operations and hence easing real-time processing for several types of traffic signs. Finally, for the recognition of the specific traffic sign, a technique based on extraction of signs characteristics and thresholding is adopted. Implemented on DSP platform the system recognizes traffic signs in less than 150 ms at a distance of about 15 meters from 640x480-pixel acquired images. Tests carried out with hundreds of images show a detection&recognition rate of about 93%