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High-accuracy real-time road sign detection from images

  • US 9,092,695 B1
  • Filed: 03/13/2013
  • Issued: 07/28/2015
  • Est. Priority Date: 03/13/2013
  • Status: Active Grant
First Claim
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1. A method of detecting objects, comprising:

  • receiving images from an image capture device;

    detecting a plurality of candidate objects within the received images, comprising;

    performing constant-time normalized cross-correlation between a template and the camera image, the constant-time normalized cross-correlation comprising detecting areas of a given color within the received image by computing an intermediate image;

    building a first integral image from the intermediate image; and

    computing a second integral image which sums the squares of the intermediate image;

    computing a score for objects identified in the camera image based on their fit within the template; and

    selecting the candidate objects based on the computed score;

    performing shape classification on the plurality of candidate objects; and

    eliminating non-objects from the plurality of candidate objects.

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