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Open AccessArticle

FAST Pre-Filtering-Based Real Time Road Sign Detection for Low-Cost Vehicle Localization

1
Department of Electronic Engineering, Korea National University of Transportation, 50 Daehak-ro, Chungju-si 27469, Korea
2
School of Intelligent Mechatronics Engineering, Sejong University, 209 Neungdong-ro, Gwangjin-gu, Seoul 05006, Korea
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(10), 3590; https://doi.org/10.3390/s18103590
Received: 11 September 2018 / Revised: 8 October 2018 / Accepted: 16 October 2018 / Published: 22 October 2018
(This article belongs to the Special Issue Sensors Applications in Intelligent Vehicle)
In order to overcome the limitations of GNSS/INS and to keep the cost affordable for mass-produced vehicles, a precise localization system fusing the estimated vehicle positions from low-cost GNSS/INS and low-cost perception sensors is being developed. For vehicle position estimation, a perception sensor detects a road facility and uses it as a landmark. For this localization system, this paper proposes a method to detect a road sign as a landmark using a monocular camera whose cost is relatively low compared to other perception sensors. Since the inside pattern and aspect ratio of a road sign are various, the proposed method is based on the part-based approach that detects corners and combines them to detect a road sign. While the recall, precision, and processing time of the state of the art detector based on a convolutional neural network are 99.63%, 98.16%, and 4802 ms respectively, the recall, precision, and processing time of the proposed method are 97.48%, 98.78%, and 66.7 ms, respectively. The detection performance of the proposed method is as good as that of the state of the art detector and its processing time is drastically reduced to be applicable for an embedded system. View Full-Text
Keywords: low-cost sensor fusion-based precise localization; road sign detection; part-based method; corner detection; real-time processing low-cost sensor fusion-based precise localization; road sign detection; part-based method; corner detection; real-time processing
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MDPI and ACS Style

Choi, K.; Suhr, J.K.; Jung, H.G. FAST Pre-Filtering-Based Real Time Road Sign Detection for Low-Cost Vehicle Localization. Sensors 2018, 18, 3590.

AMA Style

Choi K, Suhr JK, Jung HG. FAST Pre-Filtering-Based Real Time Road Sign Detection for Low-Cost Vehicle Localization. Sensors. 2018; 18(10):3590.

Chicago/Turabian Style

Choi, Kyoungtaek; Suhr, Jae K.; Jung, Ho G. 2018. "FAST Pre-Filtering-Based Real Time Road Sign Detection for Low-Cost Vehicle Localization" Sensors 18, no. 10: 3590.

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