Efficient hybrid monocular-stereo approach to on-board video-based traffic sign detection and tracking

Javier Marinas; Luis Salgado; Jon Arróspide; Massimo Camplani

doi:10.1117/12.908585

23 January 2012 Efficient hybrid monocular-stereo approach to on-board video-based traffic sign detection and tracking

Javier Marinas, Luis Salgado, Jon Arróspide, Massimo Camplani

Proceedings Volume 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques; 830106 (2012) https://doi.org/10.1117/12.908585
Event: IS&T/SPIE Electronic Imaging, 2012, Burlingame, California, United States

Abstract

In this paper we propose an innovative method for the automatic detection and tracking of road traffic signs using an onboard stereo camera. It involves a combination of monocular and stereo analysis strategies to increase the reliability of the detections such that it can boost the performance of any traffic sign recognition scheme. Firstly, an adaptive color and appearance based detection is applied at single camera level to generate a set of traffic sign hypotheses. In turn, stereo information allows for sparse 3D reconstruction of potential traffic signs through a SURF-based matching strategy. Namely, the plane that best fits the cloud of 3D points traced back from feature matches is estimated using a RANSAC based approach to improve robustness to outliers. Temporal consistency of the 3D information is ensured through a Kalman-based tracking stage. This also allows for the generation of a predicted 3D traffic sign model, which is in turn used to enhance the previously mentioned color-based detector through a feedback loop, thus improving detection accuracy. The proposed solution has been tested with real sequences under several illumination conditions and in both urban areas and highways, achieving very high detection rates in challenging environments, including rapid motion and significant perspective distortion.

Citation Download Citation

Javier Marinas, Luis Salgado, Jon Arróspide, and Massimo Camplani "Efficient hybrid monocular-stereo approach to on-board video-based traffic sign detection and tracking", Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 830106 (23 January 2012); https://doi.org/10.1117/12.908585

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KEYWORDS

3D modeling

Roads

Filtering (signal processing)

Cameras

Detection and tracking algorithms

Image segmentation

3D image processing

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