Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Three Dimensional Tracking of Road Signs based on Stereo Vision Technique

스테레오 비전 기술을 이용한 도로 표지판의 3차원 추적

  • Choi, Chang-Won (School of Computer Science and Engineering, Kyungpook National University) ;
  • Choi, Sung-In (School of Computer Science and Engineering, Kyungpook National University) ;
  • Park, Soon-Yong (School of Computer Science and Engineering, Kyungpook National University)
  • 최창원 (경북대학교 IT대학 컴퓨터학부) ;
  • 최성인 (경북대학교 IT대학 컴퓨터학부) ;
  • 박순용 (경북대학교 IT대학 컴퓨터학부)
  • Received : 2014.05.23
  • Accepted : 2014.11.14
  • Published : 2014.12.01
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Abstract

Road signs provide important safety information about road and traffic conditions to drivers. Road signs include not only common traffic signs but also warning information regarding unexpected obstacles and road constructions. Therefore, accurate detection and identification of road signs is one of the most important research topics related to safe driving. In this paper, we propose a 3-D vision technique to automatically detect and track road signs in a video sequence which is acquired from a stereo vision camera mounted on a vehicle. First, color information is used to initially detect the sign candidates. Second, the SVM (Support Vector Machine) is employed to determine true signs from the candidates. Once a road sign is detected in a video frame, it is continuously tracked from the next frame until it is disappeared. The 2-D position of a detected sign in the next frame is predicted by the 3-D motion of the vehicle. Here, the 3-D vehicle motion is acquired by using the 3-D pose information of the detected sign. Finally, the predicted 2-D position is corrected by template-matching of the scaled template of the detected sign within a window area around the predicted position. Experimental results show that the proposed method can detect and track many types of road signs successfully. Tracking comparisons with two different methods are shown.

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References

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