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The above model consists of a set of synapses, each characterised by a weight of its own, a bias, an adder, an
activation function and finally the output. x1, x2, x3, ..., xm
denote the inputs to the neuron. These inputs are weighted by
wk1 , wk2 , wk3 , ..., wkm where k is a number characterising a
neuron. These weighed inputs are added together along with a
bias bk by an adder and fed as input to the activation function
of the neuron. Activation function has basically the job of
limiting the amplitude of the weighted sum computed above.
So activation function is sometimes also called squashing
function. A particular case of activation function is a normalised activation function in which the output is limited to
the amplitude range of [1, 1].
From the above model, we can describe a neuron mathematically in terms of the following two equations.
uk =
m
X
wkj xj
(1)
yk = (uk + bk )
(2)
j=1
(3)
Pm
Fig. 6. A neuron
Fig. 8. Traffic Sign Detection Problems: a. Reflections b. Not controlled lighting c. Shadows d,e. Partial occlusions f. Sign Rotation g. Shape Deformation
Fig. 9. Input video used for Traffic Sign Detection based on colour
V. W ORK D ONE
Our project can be mainly divided into two sections. The
traffic sign detection part is done using image processing and
the recognition part is done using neural networks.The video is
sent to the image processing section which does the processing
and detects the traffic sign and send the detected traffic sign
to neural network section which in turn recognises the sign
and give the alert to the driver.
Fig. 10. Result of Traffic Sign Detection based on colour:Traffic Sign detected
Fig. 12. Traffic sign detection based on both colour and shape. Images in
clockwise direction from top left are 1.Original image 2.Red difference of
chroma of the image 3. Edge detected image 4. Detected traffic sign 5. Binary
image of 2
Fig. 11. Traffic sign detection based on shape. The images in clockwise
from top left position are as follows. 1. Colour image 2. Image converted to
grayscale 3. Circular shape detected from edge detected image 4. Traffic sign
detected and separated from the image 5. Binary image
Fig. 14. Percentage Error Recognition using two different data sets
then identified from the original input frame and cropped out.
These are then reshaped properly and given as input to the
Artificial Neural Network for recognition.
Following figure shows the results of detection of traffic sign
using the above mentioned techniques. Here the figures in the
testing was done initially with images that were already cut
out from the original images. Later on the image processing
part was also combined which would give the required region
of interest as input to the neural network while the neural
network would then recognize the traffic sign. One of the
major problems corresponding to this is that it is that it is
quite possible for the input to the system to be something
similar to a traffic sign (a flux board for instance). This may
result in erroneous output as the neural network will give an
output corresponding to any of the three values no matter
what the input is.
One way to counter the above mentioned problem is to
train the neural network intentionally with such images (flux
boards and so on). Thus the system can then identify this as
a deviation from the normal traffic signs and give output as
required. However this is still in development stage.
D. Combined System
Traffic sign detection and traffic sign recognition stages
can be combined together to form a complete traffic sign
recognition system. Results of the combined system for no
entry traffic sign are shown below. Here the no entry traffic
signs have been detected from the frame. The region is cropped
out and then given as input to the artificial neural network.
The recognised traffic sign result can be seen in the command
VII. C ONCLUSION
As it can be seen, even though the system was able to detect
and recognize a small set of traffic signs, there are still many
problems that needs to be addressed like erroneous detection,
lighting conditions and so on. There is also a chance for a
decrease in accuracy with an increase in the number of traffic
sign classes.
R EFERENCES
[1] Simon Haykin , Neural Networks: A comprehensive Foundation, 3rd
ed.Pearson Educaton, 2005.
[2] A. de la Escalera, J.M Armingol, M. Mata, Traffic sign recognition and
analysis for intelligent vehicles, 2003.
[3] Rafael.C.Gonzalez, Richard.E.Woods, Digital Image Processing, 3rd
ed.Pearson Education.
[4] Xiaoguang HU, Xinyan ZHU, Deren LI,Traffic Sign Detection Based On
Biologically Visual Mechanism, 2012
[5] David A Patterson, John L Hennessy, Computer Organisation and DesignThe Hardware Software Interface,Elsevier, 2003
[6] The OpenCV Reference Manual Release 2.4.8.0