Triangular traffic signs detection based on RSLD algorithm

This paper describes an efficient method for the detection of triangular traffic signs on grey-scale images. This method is based on the proposed RANSAC symmetric lines detection (RSLD) algorithm which transforms triangle detection into a simple segment detection. A multi-scale approach allows the detection of any warning and yield traffic signs, whatever their distance to the vehicle. This algorithm is applied to a set of selected corners obtained with a coding gradient method. Baseline detection uses the scale of selected triangles to confirm the presence of traffic signs. The study demonstrates that RSLD is a low computation method as compared to standard triangle detection. The performance of the method proposed is compared with recently published methods on road sign databases, which use colour information. An equivalent detection rate is obtained with this algorithm, working on grey-scale images. This algorithm is implemented and runs in real-time at 30 frames per second.