Object-based traffic sign detection and recognition from integrated range and intensity images

Abstract

This paper describes a method for detecting and recognizing traffic signs by integrating the range and intensity images of a Time-of-flight camera, based on Photonic Mixer Device (PMD) technology, with images of a standard digital camera. The reflectivity of signs surfaces along with background suppression ability and active sensing of the PMD camera make the signs sharply visible in intensity images. Besides the image descriptors, utilizing the object-based information provides robust and reliable detection and recognition. The overall acquisition system and proposed technique overcome the conventional illumination, disorientation and scaling problems in detection and recognition process. The method of this paper is implemented and evaluated on data acquired by a multi-sensor mobile mapping system.