Recognizing Traffic Signs using intelligent systems can drastically reduce the number of accidents happening world-wide. With the arrival of Self-driving cars it has become a staple challenge to solve the automatic recognition of Traffic and Hand-held signs in the major streets. Various machine learning techniques like Random Forest, SVM as well as deep learning models has been proposed for classifying traffic signs. Though they reach state-of-the-art performance on a particular data-set, but fall short of tackling multiple Traffic Sign Recognition benchmarks. In this paper, we propose a novel and one-for-all architecture that aces multiple benchmarks with better overall score than the state-of-the-art architectures. Our model is made of residual convolutional blocks with hierarchical dilated skip connections joined in steps. With this we score 99.33% Accuracy in German sign recognition benchmark and 99.17% Accuracy in Belgian traffic sign classification benchmark. Moreover, we propose a newly devised dilated residual learning representation technique which is very low in both memory and computational complexity.
Delft University of Technology（代尔夫特理工大学）；Eindhoven University of Technology（埃因霍温理工大学）；Cyclomedia Technology B.V（Cyclomedia科技有限公司）
Object detection and classification of traffic signs in street-view imagery is an essential element for asset management, map making and autonomous driving. However, some traffic signs occur rarely and consequently, they are difficult to recognize automatically. To improve the detection and classification rates, we propose to generate images of traffic signs, which are then used to train a detector/classifier. In this research, we present an end-to-end framework that generates a realistic image of a traffic sign from a given image of a traffic sign and a pictogram of the target class. We propo…
Universidade Federal do Espírito Santo（圣灵联邦大学）；Instituto Federal do Espírito Santo（圣灵联邦研究所）；University of Trento（特伦托大学）
Deep learning has been successfully applied to several problems related to autonomous driving. Often, these solutions rely on large networks that require databases of real image samples of the problem (i.e., real world) for proper training. The acquisition of such real-world data sets is not always possible in the autonomous driving context, and sometimes their annotation is not feasible (e.g., takes too long or is too expensive). Moreover, in many tasks, there is an intrinsic data imbalance that most learning-based methods struggle to cope with. It turns out that traffic sign detection is a p…
University of Shanghai for Science and Technology（上海理工大学）；Fudan University（复旦大学）
Autonomous driving is becoming a future practical lifestyle greatly driven by deep learning. Specifically, an effective traffic sign detection by deep learning plays a critical role for it. However, different countries have different sets of traffic signs, making localized traffic sign recognition model training a tedious and daunting task. To address the issues of taking amount of time to compute complicate algorithm and low ratio of detecting blurred and sub-pixel images of localized traffic signs, we propose Multi-Scale Deconvolution Networks (MDN), which flexibly combines multi-scale convo…
Traffic signs are essential map features globally in the era of autonomous driving and smart cities. To develop accurate and robust algorithms for traffic sign detection and classification, a large-scale and diverse benchmark dataset is required. In this paper, we introduce a traffic sign benchmark dataset of 100K street-level images around the world that encapsulates diverse scenes, wide coverage of geographical locations, and varying weather and lighting conditions and covers more than 300 manually annotated traffic sign classes. The dataset includes 52K images that are fully annotated and 4…
Laboratory for Intelligent & Safe Automobiles（智能与安全汽车实验室）；University of California San Diego（加州大学圣迭戈分校）
Detecting road traffic signs and accurately determining how they can affect the driver's future actions is a critical task for safe autonomous driving systems. However, various traffic signs in a driving scene have an unequal impact on the driver's decisions, making detecting the salient traffic signs a more important task. Our research addresses this issue, constructing a traffic sign detection model which emphasizes performance on salient signs, or signs that influence the decisions of a driver. We define a traffic sign salience property and use it to construct the LAVA Salient Signs Dataset…
Traffic sign detection is a vital task in the visual system of self-driving cars and the automated driving system. Recently, novel Transformer-based models have achieved encouraging results for various computer vision tasks. We still observed that vanilla ViT could not yield satisfactory results in traffic sign detection because the overall size of the datasets is very small and the class distribution of traffic signs is extremely unbalanced. To overcome this problem, a novel Pyramid Transformer with locality mechanisms is proposed in this paper. Specifically, Pyramid Transformer has several s…
Queensland University of Technology（昆士兰科技大学）；Australian Centre for Robotic Vision（澳大利亚机器人视觉中心）
Object detection is an integral part of an autonomous vehicle for its safety-critical and navigational purposes. Traffic signs as objects play a vital role in guiding such systems. However, if the vehicle fails to locate any critical sign, it might make a catastrophic failure. In this paper, we propose an approach to identify traffic signs that have been mistakenly discarded by the object detector. The proposed method raises an alarm when it discovers a failure by the object detector to detect a traffic sign. This approach can be useful to evaluate the performance of the detector during the de…
This study developed a traffic sign detection and recognition algorithm based on the RetinaNet. Two main aspects were revised to improve the detection of traffic signs: image cropping to address the issue of large image and small traffic signs; and using more anchors with various scales to detect traffic signs with different sizes and shapes. The proposed algorithm was trained and tested in a series of autonomous driving front-view images in a virtual simulation environment. Results show that the algorithm performed extremely well under good illumination and weather conditions. Its drawbacks a…
TrafficSignBench: Rule-Centric Closed-Loop Evaluation of Traffic-Sign Compliance in Autonomous Driving
Lomonosov Moscow State University（罗蒙诺索夫莫斯科国立大学）；FusionBrain Lab（FusionBrain实验室）；Moscow Institute of Physics and Technology（莫斯科物理技术学院）；HSE University（高等经济大学）；Innopolis University（因诺波利斯大学）；NUST MISIS（国立研究型技术大学莫斯科国立钢铁合金学院）
State Key Laboratory of Modern Optical Instrumentation, Zhejiang University（浙江大学现代光学仪器国家重点实验室）
Semantic Segmentation (SS) is the task to assign a semantic label to each pixel of the observed images, which is of crucial significance for autonomous vehicles, navigation assistance systems for the visually impaired, and augmented reality devices. However, there is still a long way for SS to be put into practice as there are two essential challenges that need to be addressed: efficiency and evaluation criterions for practical application. For specific application scenarios, different criterions need to be adopted. Recall rate is an important criterion for many tasks like autonomous vehicles.…
Beijing University of Technology（北京工业大学）；University of British Columbia（不列颠哥伦比亚大学）；Peking University（北京大学）
The paper presents a Traffic Sign Recognition (TSR) system, which can fast and accurately recognize traffic signs of different sizes in images. The system consists of two well-designed Convolutional Neural Networks (CNNs), one for region proposals of traffic signs and one for classification of each region. In the proposal CNN, a Fully Convolutional Network (FCN) with a dual multi-scale architecture is proposed to achieve scale invariant detection. In training the proposal network, a modified "Online Hard Example Mining" (OHEM) scheme is adopted to suppress false positives. The classification n…
State-of-the-art algorithms successfully localize and recognize traffic signs over existing datasets, which are limited in terms of challenging condition type and severity. Therefore, it is not possible to estimate the performance of traffic sign detection algorithms under overlooked challenging conditions. Another shortcoming of existing datasets is the limited utilization of temporal information and the unavailability of consecutive frames and annotations. To overcome these shortcomings, we generated the CURE-TSD video dataset and hosted the first IEEE Video and Image Processing (VIP) Cup wi…
Bangladesh University of Engineering and Technology（孟加拉国工程技术大学）
Robust traffic sign detection and recognition (TSDR) is of paramount importance for the successful realization of autonomous vehicle technology. The importance of this task has led to a vast amount of research efforts and many promising methods have been proposed in the existing literature. However, the SOTA (SOTA) methods have been evaluated on clean and challenge-free datasets and overlooked the performance deterioration associated with different challenging conditions (CCs) that obscure the traffic images captured in the wild. In this paper, we look at the TSDR problem under CCs and focus o…
Contrastive Learning-Driven Traffic Sign Perception: Multi-Modal Fusion of Text and Vision
School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能系统工程学院）；Guangdong Provincial Key Laboratory of Intelligent Transportation System（广东省智能交通系统重点实验室）
Faculty of Computer and Information Science, University of Ljubljana（卢布尔雅那大学计算机与信息科学学院）
Automatic detection and recognition of traffic signs plays a crucial role in management of the traffic-sign inventory. It provides accurate and timely way to manage traffic-sign inventory with a minimal human effort. In the computer vision community the recognition and detection of traffic signs is a well-researched problem. A vast majority of existing approaches perform well on traffic signs needed for advanced drivers-assistance and autonomous systems. However, this represents a relatively small number of all traffic signs (around 50 categories out of several hundred) and performance on the …
Recent work done on traffic sign and traffic light detection focus on improving detection accuracy in complex scenarios, yet many fail to deliver real-time performance, specifically with limited computational resources. In this work, we propose a simple deep learning based end-to-end detection framework, which effectively tackles challenges inherent to traffic sign and traffic light detection such as small size, large number of classes and complex road scenarios. We optimize the detection models using TensorRT and integrate with Robot Operating System to deploy on an Nvidia Jetson AGX Xavier a…
Xiamen University（厦门大学）；Xizang Minzu University（西藏民族大学）；University of Waterloo（滑铁卢大学）
The timely provision of traffic sign information to drivers is essential for the drivers to respond, to ensure safe driving, and to avoid traffic accidents in a timely manner. We proposed a timely visual recognizability quantitative evaluation method for traffic signs in large-scale transportation environments. To achieve this goal, we first address the concept of a visibility field to reflect the visible distribution of three-dimensional (3D) space and construct a traffic sign Visibility Evaluation Model (VEM) to measure the traffic sign visibility for a given viewpoint. Then, based on the VE…
Volvo Cars USA（沃尔沃汽车美国公司）；U. Washington（华盛顿大学）；VolvoCars（沃尔沃汽车）；Chalmers University of Technology（查尔姆斯理工大学）；Fung Institute, University of California, Berkeley（加州大学伯克利分校冯氏研究所）
Traffic sign identification using camera images from vehicles plays a critical role in autonomous driving and path planning. However, the front camera images can be distorted due to blurriness, lighting variations and vandalism which can lead to degradation of detection performances. As a solution, machine learning models must be trained with data from multiple domains, and collecting and labeling more data in each new domain is time consuming and expensive. In this work, we present an end-to-end framework to augment traffic sign training data using optimal reinforcement learning policies and …
Our sensor system consists of a combination of Photonic Mixer Device - PMD and Mono optical cameras. Some traffic signs have stripes at 45{deg}. These traffic signs cancel different restrictions on the road. We detect this class of signs with Radon transformation. Here the Radon transformation is calculated using Central Slice Theorem. We approximate the slice of spectrum by the Discrete Cosine Transformation (DCT).
We propose a novel traffic sign detection system that simultaneously estimates the location and precise boundary of traffic signs using convolutional neural network (CNN). Estimating the precise boundary of traffic signs is important in navigation systems for intelligent vehicles where traffic signs can be used as 3D landmarks for road environment. Previous traffic sign detection systems, including recent methods based on CNN, only provide bounding boxes of traffic signs as output, and thus requires additional processes such as contour estimation or image segmentation to obtain the precise sig…
Traffic light and sign detectors on autonomous cars are integral for road scene perception. The literature is abundant with deep learning networks that detect either lights or signs, not both, which makes them unsuitable for real-life deployment due to the limited graphics processing unit (GPU) memory and power available on embedded systems. The root cause of this issue is that no public dataset contains both traffic light and sign labels, which leads to difficulties in developing a joint detection framework. We present a deep hierarchical architecture in conjunction with a mini-batch proposal…
University of South Carolina（南卡罗来纳大学）；HERE North America（HERE北美公司）；University of Washington Bothell（华盛顿大学博塞尔分校）
In the past decade, Convolutional Neural Networks (CNNs) have been demonstrated successful for object detections. However, the size of network input is limited by the amount of memory available on GPUs. Moreover, performance degrades when detecting small objects. To alleviate the memory usage and improve the performance of detecting small traffic signs, we proposed an approach for detecting small traffic signs from large images under real world conditions. In particular, large images are broken into small patches as input to a Small-Object-Sensitive-CNN (SOS-CNN) modified from a Single Shot Mu…
Robust and reliable traffic sign detection is necessary to bring autonomous vehicles onto our roads. State-of-the-art algorithms successfully perform traffic sign detection over existing databases that mostly lack severe challenging conditions. VIP Cup 2017 competition focused on detecting such traffic signs under challenging conditions. To facilitate such task and competition, we introduced a video dataset denoted as CURE-TSD that includes a variety of challenging conditions. The goal of this challenge was to implement traffic sign detection algorithms that can robustly perform under such cha…
Lomonosov Moscow State University（罗蒙诺索夫莫斯科国立大学）；NRU Higher School of Economics（国立研究型大学高等经济学院）
Traffic sign recognition is a well-researched problem in computer vision. However, the state of the art methods works only for frequent sign classes, which are well represented in training datasets. We consider the task of rare traffic sign detection and classification. We aim to solve that problem by using synthetic training data. Such training data is obtained by embedding synthetic images of signs in the real photos. We propose three methods for making synthetic signs consistent with a scene in appearance. These methods are based on modern generative adversarial network (GAN) architectures.…
TSCLIP: Robust CLIP Fine-Tuning for Worldwide Cross-Regional Traffic Sign Recognition
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Wuhan Polytechnic University（武汉轻工大学）；The Hong Kong University of Science and Technology（香港科技大学）
Evaluating the Impact of Adversarial Attacks on Traffic Sign Classification using the LISA Dataset
Department of Computer Engineering Benedict College Columbia, SC, USA（计算机工程系 布恩迪克学院 美国哥伦比亚州）；Department of Computer Science Benedict College Columbia, SC, USA（计算机科学系 布恩迪克学院 美国哥伦比亚州）；Department of Civil Engineering Clemson University Clemson, SC, USA（土木工程系 哥伦比亚大学 美国哥伦布州）
Traffic signs are critical for maintaining the safety and efficiency of our roads. Therefore, we need to carefully assess the capabilities and limitations of automated traffic sign detection systems. Existing traffic sign datasets are limited in terms of type and severity of challenging conditions. Metadata corresponding to these conditions are unavailable and it is not possible to investigate the effect of a single factor because of simultaneous changes in numerous conditions. To overcome the shortcomings in existing datasets, we introduced the CURE-TSD-Real dataset, which is based on simulat…
Unconstrained Asian roads often involve poor infrastructure, affecting overall road safety. Missing traffic signs are a regular part of such roads. Missing or non-existing object detection has been studied for locating missing curbs and estimating reasonable regions for pedestrians on road scene images. Such methods involve analyzing task-specific single object cues. In this paper, we present the first and most challenging video dataset for missing objects, with multiple types of traffic signs for which the cues are visible without the signs in the scenes. We refer to it as the Missing Traffic…
Hochschule Bonn-Rhein-Sieg（波恩-莱茵-锡格应用技术大学）；German Research Center for Artificial Intelligence（德国人工智能研究中心）
Traffic sign recognition is an important component of many advanced driving assistance systems, and it is required for full autonomous driving. Computational performance is usually the bottleneck in using large scale neural networks for this purpose. SqueezeNet is a good candidate for efficient image classification of traffic signs, but in our experiments it does not reach high accuracy, and we believe this is due to lack of data, requiring data augmentation. Generative adversarial networks can learn the high dimensional distribution of empirical data, allowing the generation of new data point…
