Scale-variant traffic sign detection

Accurate detection of traffic signs is vital in many applications, such as driving assistance systems and autonomous vehicles. However, since urban scenes are often cluttered with confusing objects, the signs may appear scale-variant (from large to small sizes) in a single image or image sequences of traffic scenes, when autonomous vehicles are moving fast; traffic signs therefore need to be detected early and accurately when they appear small in the images, and tracked for timely recognition and decision.