Patent ID: 8041080

Claim:
A method for recognizing a particular traffic sign of a set of traffic signs in a sequence of images acquired of a vehicle environment by a camera mounted in a moving vehicle, comprising a processor for performing steps of the method, comprising the steps of: determining, in each image, a probability density map using a parameter space transform; detecting, in each image, a region of interest (ROI) using a kernel density estimator on the probability density map; tracking, in each next image after the ROI is detected, the ROI using an instant-specific regression function; and recognizing the ROI as contain the particular traffic sign of the set of traffic signs using multiple one-versus-all (OVA) classifiers, wherein each classifier only uses a same class and a different class, and a final decision is taken using a winner-takes-all strategy that associates a real-valued score with each class, and the final decision recognizes the particular traffic sign.