🤖 AI Summary
本文针对自动驾驶中的交通标志识别问题，提出了一种基于改进YOLOv2和几何特征的方法，以提高检测速度和分类准确性。
📝 Abstract
Traffic sign recognition (TSR) is an important perception task for autonomous driving and advanced driver-assistance systems, where a system must both localize traffic signs and determine their semantic classes efficiently. This work presents a TSR system based on YOLOv2 for simultaneous detection and classification. Two complementary modifications are studied. First, YOLOv2 is extended with intermediate prediction layers, forming a branched architecture that can terminate inference early for easy cases and reduce computation time. Both whole-image and cell-wise branching strategies are investigated. Second, geometric information is introduced to reduce classification errors between visually similar signs. An unsupervised Bayesian image-segmentation method produces binary representations that are compared with class-specific geometric templates inside YOLOv2 bounding boxes. This information is used either during inference or as an additional signal during training. A dedicated dataset is constructed by combining GTSDB and GTSRB samples using seamless cloning and controlled image transformations. Experiments cover ten traffic-sign classes, with 3,000 training and 300 test samples. The selected branched architecture reports 0.647 s runtime and 0.680 mAP, compared with 0.6607 s and 0.680 mAP for baseline YOLOv2. Geometric verification during inference increases mAP to 0.713, while the geometric-feature training variant achieves 0.697 mAP with a reported runtime of 0.6608 s.