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Although specific object detection has undergone great advances in recent years, its application to critical real-time circumstances like those in automated vehicle controlling is still limited, especially when facing strict speed and precision requirements. This paper uses a hybrid of various computer vision techniques including color space analysis, Haar-wavelet cascade detector, contour analysis and RANSAC shape-fitting, to achieve a real-time detection speed while maintain a reasonable precision and false-alarm level. The result is a practical system that out-performed most rivals in an automated vehicle contest and an indication of feasible CV application to speed critical areas.

A REAL WORLD DETECTION SYSTEM - Combining Color, Shape and Appearance to Enable Real-time Road Sign Detection