Graph-based Approach for Robust Road Guidance Sign Recognition from Differently Exposed Images

In this paper we present an approach to detect traffic guidance signs and recognise the structure of junction information on them. The detection algorithm is based on using differently exposed images. These images are combined into one using tone mapping technique in order to minimize effects of bad environment conditions and low dynamic range of CCD-cameras. This technique allows robust sign detection in various lighting conditions. To localize sign candidates color segmentation is used. To minimize number of false detection filtering operations based on geometrical and color properties is applied. Recognition process is based on graph theory. Each sign candidate is decomposed into principal components and the region which represents junction structure is mapped into a graph. This graph is checked for possible mapping mistakes. Finally, the graph is analyzed in order to extract all possible paths of junction crossing. These paths must represent the real structure of the junction and correspond to the road law. The proposed method allows more effective detection in different lighting and environmental conditions such as insufficient or excessive lighting, rain, fog etc compared with conventional approaches