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Using Fourier Descriptors and Spatial Models for Traffic Sign Recognition
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.ORCID iD: 0000-0002-6096-3648
2011 (English)In: Image Analysis: 17th Scandinavian Conference, SCIA 2011, Ystad, Sweden, May 2011. Proceedings / [ed] Anders Heyden, Fredrik Kahl, Springer Berlin/Heidelberg, 2011, 238-249 p.Conference paper (Refereed)
Abstract [en]

Traffic sign recognition is important for the development of driver assistance systems and fully autonomous vehicles. Even though GPS navigator systems works well for most of the time, there will always be situations when they fail. In these cases, robust vision based systems are required. Traffic signs are designed to have distinct colored fields separated by sharp boundaries. We propose to use locally segmented contours combined with an implicit star-shaped object model as prototypes for the different sign classes. The contours are described by Fourier descriptors. Matching of a query image to the sign prototype database is done by exhaustive search. This is done efficiently by using the correlation based matching scheme for Fourier descriptors and a fast cascaded matching scheme for enforcing the spatial requirements. We demonstrated on a publicly available database state of the art performance.

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2011. 238-249 p.
Lecture Notes in Computer Science, ISSN 0302-9743 (print), 1611-3349 (online) ; 6688
Keyword [en]
Traffic sign recognition – Fourier descriptors – spatial models – traffic sign dataset
National Category
Computer Science
URN: urn:nbn:se:liu:diva-69521DOI: 10.1007/978-3-642-21227-7_23ISI: 000308543900023ISBN: 978-3-642-21226-0 (Print)ISBN: 978-3-642-21227-7 (Online)OAI: diva2:428290
17th Scandinavian Conference on Image Analysis (SCIA), Ystad, Sweden, May 23-27, 2011

Original Publication: Fredrik Larsson and Michael Felsberg, Using Fourier Descriptors and Spatial Models for Traffic Sign Recognition, SCIA konferens, 23-27 May 2011, Ystad Sweden, 2011, Lecture Notes in Computer Science, Image Analysis, 238-249. Copyright: Springer

Available from: 2011-06-30 Created: 2011-06-30 Last updated: 2016-05-04Bibliographically approved
In thesis
1. Shape Based Recognition – Cognitive Vision Systems in Traffic Safety Applications
Open this publication in new window or tab >>Shape Based Recognition – Cognitive Vision Systems in Traffic Safety Applications
2011 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Traffic accidents are globally the number one cause of death for people 15-29 years old and is among the top three causes for all age groups 5-44 years. Much of the work within this thesis has been carried out in projects aiming for (cognitive) driver assistance systems and hopefully represents a step towards improving traffic safety.

The main contributions are within the area of Computer Vision, and more specifically, within the areas of shape matching, Bayesian tracking, and visual servoing with the main focus being on shape matching and applications thereof. The different methods have been demonstrated in traffic safety applications, such as  bicycle tracking, car tracking, and traffic sign recognition, as well as for pose estimation and robot control.

One of the core contributions is a new method for recognizing closed contours, based on complex correlation of Fourier descriptors. It is shown that keeping the phase of Fourier descriptors is important. Neglecting the phase can result in perfect matches between intrinsically different shapes. Another benefit of keeping the phase is that rotation covariant or invariant matching is achieved in the same way. The only difference is to either consider the magnitude, for rotation invariant matching, or just the real value, for rotation covariant matching, of the complex valued correlation.

The shape matching method has further been used in combination with an implicit star-shaped object model for traffic sign recognition. The presented method works fully automatically on query images with no need for regions-of-interests. It is shown that the presented method performs well for traffic signs that contain multiple distinct contours, while some improvement still is needed for signs defined by a single contour. The presented methodology is general enough to be used for arbitrary objects, as long as they can be defined by a number of regions.

Another contribution has been the extension of a framework for learning based Bayesian tracking called channel based tracking. Compared to earlier work, the multi-dimensional case has been reformulated in a sound probabilistic way and the learning algorithm itself has been extended. The framework is evaluated in car tracking scenarios and is shown to give competitive tracking performance, compared to standard approaches, but with the advantage of being fully learnable.

The last contribution has been in the field of (cognitive) robot control. The presented method achieves sufficient accuracy for simple assembly tasks by combining autonomous recognition with visual servoing, based on a learned mapping between percepts and actions. The method demonstrates that limitations of inexpensive hardware, such as web cameras and low-cost robotic arms, can be overcome using powerful algorithms.

All in all, the methods developed and presented in this thesis can all be used for different components in a system guided by visual information, and hopefully represents a step towards improving traffic safety.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2011. 49 p.
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1395
National Category
Computer Vision and Robotics (Autonomous Systems)
urn:nbn:se:liu:diva-71664 (URN)978-91-7393-074-1 (ISBN)
Public defence
2011-11-25, Vallfarten, hus Vallfarten, Campus Valla, Linköpings universitet, Linköping, 09:15 (English)
Available from: 2011-10-28 Created: 2011-10-28 Last updated: 2016-05-04Bibliographically approved

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