Combining traffic sign detection with 3D tracking towards better driver assistance

Abstract

We briefly review the advances in driver assistance systems and present a real-time version that integrates single view detection with region-based 3D tracking of traffic signs. The system has a typical pipeline: detection and recognition of traffic signs in independent frames, followed by tracking for temporal integration. The detection process finds an optimal set of candidates and is accelerated using AdaBoost cascades. A hierarchy of SVMs handles the recognition of traffic sign types. The 2D detections are then employed in simultaneous 2D segmentation and 3D pose tracking, using the known 3D model of the recognized traffic sign. Thus, we achieve not only 2D tracking of the recognized traffic signs, but we also obtain 3D pose information, which we use to establish the relevance of the traffic sign to the driver. The performance of the system is demonstrated by tracking multiple road signs in real-world scenarios.