Abstract
Traffic signs along the roadways are used to convey important information about the road and the environment to drivers, pedestrians, and possibly many Intelligent Transportation System (ITS) applications. A map of traffic signs provides a priori information to ITS applications, allowing the information to be used in a wide variety of detection, positioning, and vehicle control applications. In this research, a probe vehicle with onboard sensors is utilized to survey traffic signs along the roadways of a test site. A sensor platform equipped with GPS/IMU, 3D LIDAR, and a vision sensor is employed in a traffic sign detection, state estimation, and identification framework to map the state of traffic signs and to identify them from a list of known traffic sign templates. Data collected from the test site is used to test the proposed framework. The mapped traffic signs are verified using the carrier-phase Differential Global Positioning System (DGPS) surveyed locations of the sign posts to show that the errors are in the centimeter to decimeter levels.
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