Tuyn tp Cng trnh Nghin cu Cng ngh Thng tin v Truyn thng 2009

PHT HIN V PHN LOI BIN BO GIAO THNG DA TRN SVM TRONG THI GIAN THC
L Thanh Tm1, Trn Thi Sn2, Seichii Mita2
1

Khoa Cng Ngh Thng Tin Trng H Khoa hc T nhin TP.HCM 2 Hc vin Cng Ngh Toyota, Nht Bn lttam@fit.hcmus.edu.vn, {ttson,smita}@toyota-ti.ac.jp

Tm tt. Chng ti gii thiu mt cch tip cn mi hiu qu s dng c trng mu trn SVM pht hin vng ng c cho bin bo giao thng trong thi gian thc. c trng mu c x l trn vng ca pixel s dng cc thng tin pixel ln cn thay v trn tng pixel nh cc cch tip cn c. Sau , php bin i Hough v thut ton pht hin contour c p dng phn lp cng nh kh nhiu da trn c trng hnh hc ca bin bo giao thng. Kt qu th nghim nhn c trn nh vi nhiu iu kin khc nhau ca mi trng l rt kh quan.

T kho: pht hin bin bo giao thng, php bin i Hough, thut ton pht hin contour

REALTIME TRAFFIC SIGN DETECTION AND CLASSIFICATION USING SVM

Abstract. A new approach for color detection and segmentation based on Support Vector Machine to get candidate regions for traffic signs in real time is presented. Instead of processing on each pixel, this approach does on a block of pixels to use neighbors information locally. After that, Hough transform and contour detection algorithm are applied to verify the candidate regions. The experimental result is very promising based on the fact that the testing database has various kinds of not only environment, but also traffic sign.

Keywords: detection traffic signs, Hough transform, contour detection algorithm

Trang 44

Tuyn tp Cng trnh Nghin cu Cng ngh Thng tin v Truyn thng 2009

PHT HIN V PHN LOI BIN BO GIAO THNG (*) DA TRN SVM TRONG THI GIAN THC
L Thanh Tm1, Trn Thi Sn2, Seichii Mita2
1

Khoa Cng Ngh Thng Tin Trng H Khoa hc T nhin TP.HCM 2 Hc vin Cng Ngh Toyota, Nht Bn lttam@fit.hcmus.edu.vn, {ttson,smita}@toyota-ti.ac.jp

Tm tt
Chng ti gii thiu mt cch tip cn mi hiu qu s dng c trng mu trn SVM pht hin vng ng c cho bin bo giao thng trong thi gian thc. c trng mu c x l trn vng ca pixel s dng cc thng tin pixel ln cn thay v trn tng pixel nh cc cch tip cn c. Sau , php bin i Hough v thut ton pht hin contour c p dng phn lp cng nh kh nhiu da trn c trng hnh hc ca bin bo giao thng. Kt qu th nghim nhn c trn nh vi nhiu iu kin khc nhau ca mi trng l rt kh quan.

1. Gii thiu
Bin bo giao thng l cch thc thng bo tnh trng ng, a ra nhng cnh bo cng nh ch ra nhng nguy him trn ng cho ti x. Nhng thng tin hu ch ny s gip cho giao thng tr nn an ton v tin li hn. Vic pht hin v nhn dng bin bo giao thng gp nhiu kh khn do s phc tp ca hon cnh xung quanh. Bin bo giao thng c th b h hi khi tip xc mt thi gian di di nh nng mt tri. c trng mu sc rt nhy trc nhng iu kin nh sng khc nhau nh trong iu kin sng m, my v.v... Hn na, mu sc khng ch nh hng do s chiu sng vo ban ngy m cn ph thuc vi nh sng yu ca ban m. S khc bit v gc nhn cng lm cho vic pht hin v nhn dng tr nn kh khn hn. Thm na, bin bo giao thng c th b che khut bi cy, ta nh hay nhng ngi i b v.v... thi im hin ti, cha c c s d liu cho nh giao thng chun nn vic lng gi, so snh mt phng php mi c ngh vi cc phng php c l rt kh khn. Hu ht cc cng trnh nghin cu s dng c trng mu sc l mt trong nhng c trng chnh pht hin bin bo giao thng bn cnh c trng hnh hc. Cch tip cn ban u c th pht hin v phn on cc vng mu, cc tc gi s dng ngng trong khng gian mu ph hp, trong HSV c
(*) y l mt module nm trong d n h thng li xe t ng ca hc vin Cng Ngh Toyota c ti tr bi tp on t Toyota

chn bi hu ht cc tc gi[1, 2, 3] bi v n gn vi cm gic mu sc ca con ngi v c th tch thng tin mu sc vi sng, m rt kh lm c trong khng gian mu ph bin RGB. Cch tip cn ny n gin, phc tp thp nhng s rt kh tch mu quan tm do tnh lin tc ca khng gian mu. A de la Escalcra cng cc cng s s dng 2 bn tra trn knh mu sc (hue) v knh bo ha (saturation) trong khng gian mu HSI nng cao kh nng tch ra c mu quan tm[4]. H. Fleyed a ra mt s thut ton phn on mu quan tm nh thut ton vi ngng ng, phn on mu da trn tp m v thut ton bt bin vi cng sng [6]. Nhng thut ton ny s dng thng tin ton cc ca ton b cc pixel trong nh nh thng tin thm t c s chnh xc cao hn. C. Fang v cc cng s p dng m hnh mng nron 2 lp trn knh mu(hue) trong khng gian mu HSI ly ra mu quan tm[7, 8, 9], y l cch tip cn u tin da trn phng php hc. Phng php ny la chn s tng ng tt nht gia gi tr pixel v gi tr mu quan tm trn knh mu(hue) c lu li sau qu trnh hc. 2. M hnh pht hin v phn loi bin

bo giao thng
Trong bi ton bin bo giao thng, cc nghin cu u da trn hai c trng chnh l mu sc v hnh hc ca bin bo. Do vy m hnh chung cho bi ton thng nh hnh 1. Vi yu cu ca d n l gii quyt bi ton trong thi gian thc, nh giao thng phi c pht hin vi khong cch t 15m tr ln vi video u vo c kch thc mi khung nh l 640x480. ng gp ca chng ti l xy dng thut ton pht hin vng ng c da trn c trng mu sc da trn SVM s dng gi tr ca vng pixel, m cc thut ton hin nay ch s dng gi tr ca tng pixel hay thm thng tin ton cc ca nh. Cch tip cn ny gip cho h thng c th s dng nhng thng tin ca cc pixel ln cn t c chnh xc hn. Bn cnh vic vn gi c ph cao, thut ton trn c kh nng loi bt mt phn nhiu m cc thut ton da trn c trng mu hin ti khng c. Thut ton s c trnh by chi tit trong phn 3.

Trang 45

Tuyn tp Cng trnh Nghin cu Cng ngh Thng tin v Truyn thng 2009 t chnh nh gc ban u da trn v tr nh ly c qua bc phn on mu s c x l bi thut ton hi t mu (color constancy) [17, 18, 19] gim bt mt phn nhiu v gip nh t cht lng cao hn, hnh 3 minh ha hiu qu ca vic s dng thut ton trn. Sau , thut ton bin i Hough v contour c p dng phn loi theo hnh dng cc bin bo ng thi loi cc vng ng c nhiu.

nh u vo

Tin x l nng cao cht lng nh u vo

S dng c trng mu sc ly vng ng c

Dng cc c trng hnh hc pht hin, phn loi, nhn dng

nh kt qu Hnh 1. M hnh chung c s dng rng ri

gii quyt bi ton trong thi gian thc, chng ti ngh m hnh c miu t trong hnh 2 da trn nhng u im ca thut ton pht hin vng ng c da trn mu c kh nng chu nhiu.
nh u vo

Phn on nh mu bng SVM c vng ng c trn nh c thu nh kch thc

Ly vng ng c trn nh gc da trn v tr c phn on

Hnh 3. Minh ha kh nng nng cao cht lng nh ca thut ton hi t mu[17, 18, 19]

S dng thut ton hi t mu nng cao cht lng vng ng c

3. Pht hin v phn on mu vi SVM

Hu ht cc phng php c u x l trn tng pixel ring l hay dng thm thng tin ton cc ca nh. Cch tip cn ca chng ti da trn khi pixel, do vy s ly c thng tin cc pixel ln cn lm cho vic pht hin v phn an hiu qu hn (dng thng tin cc b).

Phn loi bin bo bng bin i Hough v contour

3.1 tng chnh

nh kt qu

Hnh 2. M hnh ngh

nh u vo c thu nh kch thc 2 ln chiu rng v 2 ln chiu cao (320x240). Thut ton phn on mu quan tm s a ra cc vng ng c. Sau cc vng ng c s c rt trch

Thay v quyt nh mu ca mi pixel c phi l mu c quan tm hay khng, phng php ca chng ti s chn khi pixel iu khin - l khi m c th nh ngha c vng ng c da trn phng php SVM. Hn na, vic s dng khi pixel iu khin gip kh c mt phn nhiu.

Trang 46

Tuyn tp Cng trnh Nghin cu Cng ngh Thng tin v Truyn thng 2009 nh v thu c tp cc khi pixel c mu quan tm xy dng c s d liu hc. Vic pht hin bin bo giao thng c p dng cho h thng li xe t ng ca Toyota, do vy nhng bin bo cung cp nhng thng tin nh yu cu dng li (bin stop), quo tri, quo phi s cn thit cho xe hn l cc bin bo thng tin (bin hnh ch nht). T c trng mu sc ca bin bo quan tm nh trn, mu v mu xanh da tri l hai mu sc ca bin bo c trch lc t cc bin bo xy dng b hc mu. Trong hnh 4, 6 minh ha mt phn d liu hc mu , xanh da tri xy dng c, ba hng trn ca hnh l d liu mu mu quan tm, ba hng di ca nh l d liu mu mu khng quan tm. Mu dng hun liu l cc khi 2x2, c tp hp li thnh 1 khi nh 64x48 lu tr trong c s d liu c minh ha nh trong hnh 4, 6.

3.2 Rt trch c trng mu

Hin nay c rt nhiu khng gian mu nh RGB, HSV, CIELUV v.v... Mi khng gian mu c nhng u im khc nhau. Khng gian mu RGB c s dng ph bin nht, cc knh trong RGB c tng quan cao nhng thng tin v mu sc v sng c trn ln vo nhau. Khng gian mu HSV biu din trc quan mu sc i vi mt ngi da trn tng ca cc ha s v mu sc nh sc thi, bo ha, mc sng. Knh mu (hue) cha thng tin mu chnh v bt bin vi chi di ngun nh sng trng, knh bo ha (saturation) i din cho y mu ca mt vng da trn t l sng v chi ca mu. Khng gian mu CIELUV c xut bi G. Wyszecki v c chun ha bi CIE(y ban quc t L'Eclairage), v y l khng gian mu chun theo tri gic con ngi. Cch tip cn ca chng ti da trn t s gia cc knh mu trong khng gian RGB nh trong [5] ly c trng bi v n c th rt gn khng gian biu din nhng vn m bo c vic nh ngha cc vng mu c th.

3.4 Phng php hc SVM

SVM l k thut hc c s dng rng ri trong cc bi ton phn lp mu trong min lin tc cng nh min ri rc da trn c s ton ca l thuyt hc thng k. Phng php ny do Vapnik cng nhm

(a)

(b)

(c)

(d)

(e)

(f)

Hnh 4. Minh ho mt s mu hc trn mu xanh da tri ca bin bo giao thng xy dng

3.3 Xy dng b d liu hc mu

Do hin ti cha c b d liu chun v bin bo giao thng trin khai cc thut ton hc nn chng ti xy dng b d liu da trn cc nh giao thng Vit Nam, Nht Bn v cc nh thu c t Internet vi nhiu iu kin nh khc nhau nh: bin bo c mu b h hi bi iu kin mi trng, nh m, nh chp di iu kin nh sng chi, nh c chp vo ban m v.v... Chng ti s dng phng php K-Means trn c trng t l gia cc knh mu trong khng gian RGB ca khi pixel 2x2 c th phn cm mu trn

(g)

(h)

Hnh 5. Minh ho thut ton nhm vng ng c m rng t BFS vi khong cch nh ngha trc (d = 2).

nghin cu ca ng ngh phng th nghim AT&T Bell vo nm 1992 [11, 12]. Da trn nhng th nghim c trin khai, chng ti nhn thy rng nhng c trng bt bin xc nh vng mu quan tm bng t s cc knh mu trong khng gian RGB c th t c bng vic s dng SVM tuyn tnh. Do vy, chng ta c th rt ra c kt lun rng nhng mu quan tm nh v xanh da tri ca bin bo giao thng c trch bng c trng trong phn 3.2 cng t c hiu qu vi

Trang 47

Tuyn tp Cng trnh Nghin cu Cng ngh Thng tin v Truyn thng 2009 tm, iu ny gip cho phc tp tnh ton ca m hnh gim bt.

4. Phn loi bin bo giao thng s dng bin i Hough v contour

Sau khi ly c vng ng c, chng ti s dng bin i Hough pht hin cc bin bo giao thng hnh trn. i vi cc bin bo tam gic, u tin chng ti s dng phng php pht hin cnh Canny[14] vi a ngng ly vng ng c dng nh phn. Sau , chng ti s dng thut ton pht hin contour ng thi s dng tnh cht hnh hc ca tam gic kim chng kt qu, chng ti b qua cc bin bo hnh ch nht (bin bo thng tin) do tnh cht ca h thng li xe t ng, cc thng tin ny s c h thng GPS gii quyt. phc tp ca bc phn loi ph thuc vo s vng ng c. Da trn th nghim, s vng ng c cng t l din tch ca vng ng c so vi ton nh l nh nn phc tp ca bc ny l khng ng k.

Hnh 6. Minh ho mt s mu hc trn mu ca bin bo giao thng xy dng

cc m hnh tuyn tnh khc, do vy chng ti s dng SVM tuyn tnh thay v SVM phi tuyn do tnh hiu qu cng nh c phc tp thp.

5. Th nghim v kt qu
Th nghim c trin khai trn ngn ng C trn my tnh xch tay c b x l hai nhn 1.66GHz vi nh khng c tin x l trc. SVM Light c ci t bi Joachims[15, 16] c dng lng gi kt qu trn phng php m chng ti ngh.
Bng 1. Nhng tham s ca qu trnh hc SVM trn mu quan tm Mu ng Mu sai ph chnh xc Mu 30000 45000 88,24% 88,28% Mu xanh da tri 30000 60000 98,03% 98,03%

3.5 Phng php nhm cc vng iu khin t vng ng c

Sau khi c cc vng iu khin trn mu quan tm qua vic phn lp bng SVM, chng ti s dng phin bn m rng ca thut ton loang chiu rng(BFS) trong l thuyt th vi khong cch c nh ngha trc nhm cc vng iu khin t c vng ng c. Phin bn m rng ny ca BFS c th gip hnh thnh vng ng c t mt nhm nh cc vng iu khin m khng phi i hi tt c cc vng c s ca mu quan tm. V vy, trong bc phn lp, chng ti ch cn ly c mt s vng iu khin m khng phi ly tt c cc vng iu khin trn mu quan tm. Hnh 5 (a), (b), (c), (d), (e), (f), (g), (h) minh ha tng bc thc hin ca thut ton nhm vng ng c da trn BFS vi khong cch c nh ngha trc l d = 2 ly vng ng c khi chi bit mt tp hp khng y ca vng iu khin.

Bng 2. Chi ph thi gian thc hin ca thut ton phn on mu quan tm da trn SVM trn nh (320 x 240) Mu 0.14s 0.09s 0.11s Mu xanh da tri 0.14s 0.09s 0.11s

Xu nht Tt nht Trung bnh

3.6 Kt hp SVM vi ngng th

ci thin v tc ca m hnh, chng ti a ra s kt hp phng php trn vi mt ngng th. Ngng th c tc dng loi tr cc mu d phn bit vi mu quan tm do vy s vng phi kim tra bi SVM s gim xung lm gim thi gian tnh ton mt cch ng k. u tin, chng ti s dng ngng th trong khng gian HLS vi mi pixel trong vng 2x2, nu tt c cc pixel u vt qua c ngng th hay ni mt cch khc, y l nhng mu d phn bit vi mu chng ta quan tm, do vy chng ta s gim c s vng c kim tra bng SVM. SVM ch kim tra nhng vng mu kh phn bit vi mu quan

Bng 3. Chi ph thi gian thc hin ca thut ton phn on mu quan tm da trn SVM trn nh (320 x 240) c kt hp ngng th Tt nht Xu nht Trung bnh Mu 0.032s 0.015s 0.023s Mu xanh da tri 0.032s 0.015s 0.023s

Da vo thc nghim, cc tham s ca qu trnh hc mu v mu xanh da tri da trn SVM c chn nh c nu trong bng 1, do trong qu trnh phn on mu ny, cn c ph tt hn l quan tm n chnh xc nn b mu sai c chn nhiu hn so vi b mu ng, s chnh lch mu ny s gip cho SVM phn lp mu t c ph tt hn

Trang 48

Tuyn tp Cng trnh Nghin cu Cng ngh Thng tin v Truyn thng 2009 so vi khi khng c chnh lch ca mu hc ng v mu hc sai. Vic s dng ngng th trong qu trnh phn on mu gip cho phc tp tnh ton gim ng k, nhng thng k bng 2 v bng 3 cho thy khi p dng ngng th th thi gian tnh ton cho qu trnh phn on mu bng SVM gim i 5 ln so vi khi khng p dng. Hn na, khi phn on nh t ly vng ng c, do v tr t ca bin bo giao thng nn chng ti s dng heuristic l nh giao thng ch c trn 2/3 trn ca nh a vo, do vy s gip gim phc tp tnh ton, v khi th nghim nh vi iu kin tng qut, heuristic ny c b qua. Phng php ny da trn vng mu quan tm thu vng ng c, sau da trn kt qu bin i Hough v contour phn loi bin bo loi hnh trn, tam gic hay l vng nhiu. Do hin ti cha c c s d liu bng giao thng chun, chng ti thu thp cc bin bo giao thng cung cp bi phng nghin cu ca Toyota, mt s bin bo trong lun vn tin s ca Gio S Fleyeh[6] v cc bin bo thu thp t internet, y l c s d liu cha cc nh thu c cc iu kin rt a dng nh nh sng yu hay c tuyt, cng nh bin bo nhng iu kin khc nhau nh b che ph mt phn, b m, b nhiu. C s d liu kim tra ny c chng ti cung cp ti a ch: http://www.fit.hcmus.edu.vn/~lttam/LTTamTestingDatabase.rar
Bng 4. Kt qu phng php ngh v mt s kt qu lin quan trn c s d liu kim tra ngh. T l sai Thi gian T l ng (False x l (Precision) Positive) Soetedjo [2] 85% 10% 2440 ms Shneier [5] 88% 58% 50 ms Phng php 92.91% 7.04% 53 ms ngh

mu l c phc tp ln, tc x l ln lt trn tng vng ng c, do vy thi gian x l ca thut ton hi t mu c ti u. Vic cc vng ng c c kch thc nh cng lm cho bin i Hough v thut ton pht hin contour kt hp vi pht hin cnh bng Canny[14] trn a ngng t c thi gian x l nhanh hn hn so vi p dng ngay trn nh gc ban u. Do s dng thut ton phn on mu trn SVM, chng ti khng ph thuc vo tham s nh cc phng php khc s dng ngng phn on mu nn trong bi khng c v ROC.

Ti liu tham kho

[1]

[2]

[3]

[4]

[5]

[6] [7]

[8]

T bng 4 cho thy, phng php ngh t kt qu tt trong thi gian thc (khong 20 khung nh trn giy) trn c s d liu kim tra c nhiu iu kin khc nhau cng nh tnh trng bng a dng nh miu t trn v c p dng trong phn phn loi bin bo giao thng ca h thng li xe t ng ca Toyota m c tc xe ti a l 30 km/h. Hnh 7 minh ha mt s kt qu th nghim trn c s d liu nh bin bo giao thng ngh. Kt qu t c tt do nhng u im ca thut ton phn loi mu da trn SVM kt hp vi thut ton nhm vng da trn BFS vi khong cch c nh ngha trc, do vy c th s dng c thng tin cc b trn vng nh thay v x l trn tng im nh m cc phng php trc p dng nn thu c vng ng c tt, hn na vic p dng thut ton hi t mu cho php nng cao cht lng nh c bit l nhng nh c iu kin nh sng yu cng nh b m. Cc vng ng c c kch thc nh hn so vi ton nh do vy khc phc c hn ch ca thut ton hi t

[9]

[10]

[11]

[12] [13]

S.Vitabilc, F.Sorbello. Pictogram road signs detection and understanding in outdoor scenes. Proc. Conf. Enhanced and Synthetic Vision, Orlando, Florida, 1998. A. Soetedjo, K. Yamada: An Efficient Algorithm for Traffic Sign Detection, Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol. 10, No. 3, pp. 409-418 (2006). S. Vitabile, G.Pollaccia, C. Pilato, and E.Sorbello. Road sign recognition using a dynamic pixel aggression technique in the HSV color space. Proc 11th, Inter. Conf, Image Analysis and Processing, Palermo, Italy, 2001. A. de la Escalcra, L. Moreno, E. Puente, and M. Salichs. Neural traffic sign recognition for autonomous vehicles. Proc 20th Inter. Conf. on Industrial Electronics Control and Instrumentation, Bologna, Italy, 1994. M. Shneier, Road Sign Detection and Recognition, Proceeding of SPIE, the International Society for Optical Engineering, Florida, USA, 2006 H. Fleyeh. Traffic and road sign recognition. PhD thesis at Dalarna University, Sweden, 2008. C. Fang, C. Fuh, S.Chen, and P.Yen. A road sign recognition system based on dynamic visual model. Proc IEEE Computer Society Conf, Computer Vision and Pattern Recognition, Madison, Wisconsin, 2003. C. Fang, S. Chen, and C. Fuh. Road sign detection and tracking. IEEE Trans on Vehicular Technology, Vol 52, pp. 1329-1341, 2003. C. Fang. A vision-based driver assistance system based on a dynamic visual model. PhD Thesis at National Taiwan University, 2003. MacQueen, J. B. Some methods for classification and analysis of th multivariate observations. Proceedings of 5 Berkeley Symposium on Mathematical Statistics and Probability, 281-297, University of California Press, 1967. B. E. Boser, I. M. Guyon, and V. N. Vapnik. A training algorithm for optimal margin classifiers. In D. Haussler, editor, 5th Annual ACM Workshop on COLT, pages 144-152. Pittsburgh, PA, 1992. Corinna Cortes, and V. Vapnik. Support Vector Networks. Machine Learning, 1995. Duda, R. O. and P. E. Hart, "Use of the Hough Transformation to Detect Lines and Curves in Pictures," Comm. ACM, Vol. 15, pp. 1115 (January, 1972)

Trang 49

Tuyn tp Cng trnh Nghin cu Cng ngh Thng tin v Truyn thng 2009
[14]

[15] [16]

[17]

Canny, J., A Computational Approach To Edge Detection, IEEE Trans. Pattern Analysis and Machine Intelligence, 8:679-714, 1986 T. Joachims. Making large-Scale SVM Learning Practical. MIT-Press, 1999. C. Burges, and A. Smola. Advances in Kernel Methods Support Vector Learning. MIT-Press, 1999. B. Funt, K. Barnard, L. Martin, "Is Machine colour constancy good enough?", The fifth

[18]

[19]

European Conf. on Computer Vision (ECCV), Freiburg, Germany, 1998. C. Rosenberg, M. Hebert, S. Thrun, "Color constancy using KL-Divergence," The 8th IEEE Intern. Conf Computer Vision (ICCV), Vancourver, BC Canada, 2001 M. Ebner, "Color constancy using local color shifts", The 8th European Conf on Computer Vision (ECCV), Prague, Czech Republic, 2004

a) Thi tit sng m

b) Thi tit c tuyt

c) ng ph Nht Bn

Hnh 7. Mt s v d kt qu kim tra trn c s d liu kim tra ngh

Trang 50