Road sign detection method and device

Abstract

A road sign detection method comprises a scene modeling step, a color filtering step, a geometric feature filtering step, a shape detection step and an identification step, wherein in the scene modeling step, the allowed passing range of each color is determined respectively according to sample images of a plurality of scene categories; in the color filtering step, to-be-processed image scene categories are determined, and the allowed passing range of each color is utilized to filter the to-be-processed images so as to obtain respective binaryzation images of the to-be-processed images about each color; in the geometric feature filtering step, connected domain analysis is respectively performed on each binaryzation image, the geometric features of each connected domain in the binaryzation images are obtained, the connected domains with the geometric features not conforming to the road sign specifications are removed, and other connected domains are candidate road signs; in the shape detection step, the shapes of the candidate road signs are detected according to preset shapes of limited categories; and in the identification step, attributes of the candidate road signs are recognized according to the similarity level of internal characteristics and standard internal characteristics and the candidate road signs with determined shapes. A road sign detection device is further provided correspondingly.

Description

technical field [0001] The invention relates to a road sign detection method and a road sign detection device. Background technique [0002] With the development and wide application of Intelligent Transportation System (ITS) technology, the research on road sign detection technology has gradually attracted attention. Since the standards of road signs adopted by countries in the world are basically unified, the road sign detection technology developed for a country's road signs can be applied to other countries without or only with minor adjustments, thus having universal applicability. [0003] At present, some progress has been made in the field of road sign detection technology, for example, many patents or patent applications have been published. [0004] Patent Document 1 (US 20080002891 A1, "Road sign determination apparatus, method and program") provides a road sign determination device. These include: an image recognition unit that performs recognition of image dat...

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Problems solved by technology

However, the threshold used for color segmentation in this patent is also fixed, so that the accuracy of image segmentation results will inevitably be affected by external light; at the same time, the rough classification based on color-shape pairs is only for the outer contour features of road signs, The internal features of road signs such as internal color and other features are not involved, which will also lead to a relatively high probability of false detection

[0007] The color filtering image segmentation methods for the detection of road signs in the above-mentioned related patents are not adaptive. Even if the concept of rough classification is involved, it is based on a limited set of road signs. Clear, fixed Templates, or based on the concept of color-shape pairs, but do not use the internal features of road signs for further road sign recognition

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