• International Journal of Highway Engineering
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• v.15 no.5
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• pp.187-193
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• 2013

PURPOSES : This research is to analyze the influence in terms of misreading rate and legibility time for drivers when condensation occurs on the road signs. METHODS : In this research, the dew occurred road signs provided to drivers to measure legibility time and misreading rate to compare with normal road sign. In order to identify the difference of legibility time between normal road sign and dew occurred road sign, the T-test and ANOVA test were used. And the vision system was used to recognize the region of dew occurrence on the road sign, then the brightness of dew occurrence region on the road sign was changed to check the misreading rate of drivers according to the change rate of brightness. RESULTS : The legibility times were measured 2.65s for normal road sign and 4.08s for dew occurrence road sign and misreading rates were measured 2.8% for normal road sign, 21.7% for dew occurrence road sign.

• International Journal of Highway Engineering
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• v.15 no.1
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• pp.155-161
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• 2013

PURPOSES: This study is to develop a road traffic sign recognition and automatic positioning for road facility management. METHODS: In this study, we installed the GPS, IMU, DMI, camera, laser sensor on the van and surveyed the car position, fore-sight image, point cloud of traffic signs. To insert automatic position of traffic sign, the automatic traffic sign recognition S/W developed and it can log the traffic sign type and approximate position, this study suggests a methodology to transform the laser point-cloud to the map coordinate system with the 3D axis rotation algorithm. RESULTS: Result show that on a clear day, traffic sign recognition ratio is 92.98%, and on cloudy day recognition ratio is 80.58%. To insert exact traffic sign position. This study examined the point difference with the road surveying results. The result RMSE is 0.227m and average is 1.51m which is the GPS positioning error. Including these error we can insert the traffic sign position within 1.51m CONCLUSIONS: As a result of this study, we can automatically survey the traffic sign type, position data of the traffic sign position error and analysis the road safety, speed limit consistency, which can be used in traffic sign DB.

• Journal of Korea Multimedia Society
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• v.19 no.2
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• pp.252-263
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• 2016

Road sign is an important street furniture that gives some information such as road conditions, driving direction and condition for a driver. Thus, road sign is a major target of image recognition for self-driving car, ADAS(autonomous vehicle and intelligent driver assistance systems), and ITS(intelligent transport systems). In this paper, an enhanced road sign recognition system is proposed for MMS(Mobile Mapping System) using the single camera and GPS. For the proposed system, first, a road sign recognition scheme is proposed. this scheme is composed of detection and classification step. In the detection step, object candidate regions are extracted in image frames using hybrid road sign detection scheme that is based on color and shape features of road signs. And, in the classification step, the area of candidate regions and road sign template are compared. Second, a Geo-marking scheme for geo-content that is consist of road sign image and coordinate value is proposed. If the serious situation such as car accident is happened, this scheme can protect geographical information of road sign against illegal users. By experiments with test video set, in the three parts that are road sign recognition, coordinate value estimation and geo-marking, it is confirmed that proposed schemes can be used for MMS in commercial area.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1088-1095
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• 2009

In this paper, we describe the reorientation method of distorted road sign by using projection transformation for improving recognition rate of road sign. RSR (Road Sign Recognition) is one of the most important topics for implementing driver assistance in intelligent transportation systems using pattern recognition and vision technology. The RS (Road Sign) includes direction of road or place name, and intersection for obtaining the road information. We acquire input images from mounted camera on vehicle. However, the road signs are often appeared with rotation, skew, and distortion by perspective camera. In order to obtain the correct road sign overcoming these problems, projection transformation is used to transform from 4 points of image coordinate to 4 points of world coordinate. The 4 vertices points are obtained using the trajectory as the distance from the mass center to the boundary of the object. Then, the candidate areas of road sign are transformed from distorted image by using homography transformation matrix. Internal information of reoriented road signs is segmented with arrow and the corresponding indicated place name. Arrow area is the largest labeled one. Also, the number of group of place names equals to that of arrow heads. Characters of the road sign are segmented by using vertical and horizontal histograms, and each character is recognized by using SAD (Sum of Absolute Difference). From the experiments, the proposed method has shown the higher recognition results than the image without reorientation.

• Journal of information and communication convergence engineering
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• v.10 no.4
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• pp.378-383
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• 2012

This paper presents the implementation of an automatic road sign recognizer for an intelligent transport system. In this system, lists of road signs are processed with actions such as line segmentation, single sign segmentation, and storing an artificial sign in the database. The process of taking the video stream and extracting the road sign and storing in the database is called the road sign recognition. This paper presents a study on recognizing traffic sign patterns using a segmentation technique for the efficiency and the speed of the system. The image is converted from one scale to another scale such as RGB to grayscale or grayscale to binary. The images are pre-processed with several image processing techniques, such as threshold techniques, Gaussian filters, Canny edge detection, and the contour technique.

• Spatial Information Research
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• v.15 no.3
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• pp.335-346
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• 2007

Road sign is one of the road attached facilities to provide conveniences to motor drivers. The setup of location information according to the related regulation and the inclusion of various attributes such as place names, route numbers, symbols, bearings, distances to the place of interest distinguish the road sign from other facilities. These features give advantages to the informationization of road sign. Presently there established about 130,000 road signs on each class of roads, and about 280 road management offices have controlled these road signs independently, but there are plethora of ineffectiveness such as the lack of consistency, recognition, connectivity, and location suitability etc. These are the major factor of confusions rather than providing conveniences, and arisen a lot of public grievances. Accordingly, in this research the road signs throughout the nation were databased and the web-GIS based road sign management system was established to ameliorate the problems reveled. Since the road sign management system we developed reflected the demands of the persons in charge and users, the management effectiveness might be enhanced and the public inconveniences will be reduced.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1375-1378
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• 1997

In this paper, we presents the algorithm which is to recognize the traffic sign on the road the traffic signal in a video image for autonomous navigation. First, the rocognition of traffic sign on the road can be detected using boundary point estimation form some scan-lines within the lane deducted. For this algorithm, index matrix method is used to detemine what sign is. Then, the traffic signal recognition is performed by usign the window minified by several scan-lines which position may be expected. For this algoritm, line profile concept is adopted.

• International Journal of Highway Engineering
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• v.8 no.4 s.30
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• pp.37-47
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• 2006

The road sign is one of street furnitures functioning to guide directions for drivers. The road sign should be employed and designed to help drivers find their destinations easily and accurately. It is obvious that the road sign is one of the main components that enhance efficiency and safety of driving environments. The current way of guiding strategy at road signs in Korea is a system for mainly guiding 'points' although a new system guiding 'road names' and 'street numbers' with the introduction of new address system is now being introduced on urban areas. When the regional territory management offices and local governments try to employ current road sign systems, they are supposed to follow the sign regulations which contains standard project processes, selection methods of guiding points, character size and design, and location selection for each road sign. However, the current road sign regulations are very complex to understand and unclear for a person in charge to do tasks described above. Especially, selection process and criteria of guiding points are cumbersome and controversial. Furthermore, non sufficient ways of selecting guiding points considering road functions and geographic characteristics decrease the connectivity of guiding points. This study develops enhanced ways of increasing connectivity of successive guiding points through three case studies. Developed ways will help highway agencies and officials understand how to improve the connectivity of road signs.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1259-1266
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• 2014

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.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.50-59
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• 2014

This paper proposes a method of localization of vehicle especially the horizontal position for the purpose of recognizing the driving lane. Through tracking road signs, the relative position between the vehicle and the sign is calculated and the absolute position is obtained using the known information from the regulation for installation. The proposed method uses Kalman filter for road sign tracking and analyzes the motion using the pinhole camera model. In order to classify the road sign, ORB(Oriented fast and Rotated BRIEF) features from the input image and DB are matched. From the absolute position of the vehicle, the driving lane is recognized. The Experiments are performed on videos from the highway driving and the results shows that the proposed method is able to compensate the common GPS localization errors.