Vehicle-Mounted Adaptive Traffic Sign Detector for Small-Sized Signs in Multiple Working Conditions

Abstract

Traffic sign detection is of great significance to the development of the Intelligent Transportation System (ITS) as a database for environmental awareness. The main challenges of existing traffic sign detection method are inaccurate small object detection, difficult mobile deployment, and complex working environment. Based on these, a vehicle-mounted adaptive traffic sign detector (VATSD) for small-sized signs in multiple working conditions is proposed in this paper. First, the Backbone of the detector is optimized. A feature tight fusion structure is designed to constitute a new feature extraction module, DCSP, which improves the feature extraction capability and the detection accuracy of small objects with negligible additional parameters. Second, an image enhancement network IENet with an adaptive joint filtering strategy is proposed. The IENet enables the dynamic selection of filters and thus adaptively optimizes low-quality images under multiple conditions to improve the accuracy of subsequent detection tasks. The proposed method has experimented on three traffic sign datasets and the detection accuracy increased by up to 7.6% compared to the original. The proposed detector demonstrates superiority over other state-of-the-art (SOTA) methods in terms of small object detection accuracy, detection speed, and environmental adaptability. Further, we deployed VATSD to Jetson Xavier NX and achieved a detection speed of 21.6 FPS, meeting real-time requirements.