2022International Conference on Advanced computing Technologies & Applications (ICACTA), Mar.
04 – 05, 2022, Coimbatore, INDIA
Automatic Traffic Sign Detection System With Voice
Assistant
2022 International Conference on Advanced Computing Technologies and Applications (ICACTA) | 978-1-6654-9515-8/22/$31.00 ©2022 IEEE | DOI: 10.1109/ICACTA54488.2022.9753620
Sri Suvetha C S
Departmentof Electronics and Communication Engineering,
Kumaraguru College of Technology, Saravanampatti,
Coimbatore,
e-mail: srisuvetha.19ec@kct.ac.in
Abstract—In the arena of artificial intelligence, the world is
revolutionizing with many technological applications being
incorporated with Artificial Intelligence due to improved
efficiency and performance. AI has penetrated drastically,
delving deep into locker room decisions in many fields like
agriculture, healthcare, military, manufacturing, robotics,
transportation and so on. AI does a lot more than improving our
lives, in most cases, it saves our lives too. Autonomous vehicles,
the so-called self-driving cars, are one of the greatest applications
of AI and are very instrumental in making the machine work
autonomously by observing and interpreting the real-life scenario
of the environment. This paper deals with the deployment of an
Automatic Traffic sign detection System with voice assistant,
which is one of the applications of autonomous vehicles, which
can tone down the driver from puzzling traffic conditions
significantly increasing driving safety and comfort. This will
require an appropriate database and algorithm for improved
accuracy in performance. This paper, therefore, compares the
features, accuracy, and efficiency of various deep learning
algorithms and comes up with a varied model thus saving
computational resources.
Keywords— Artificial Intelligence; Deep learning; Algorithms,
Voice Assistant; Accuracy; Efficiency.
I. INTRODUCTION
With the accelerated advancement of technology,
automation has emerged as a valuable tool for raising living
standards. Since the number of vehicles is increasing daily so
are the road accidents. According to the report, India loses 1.5
lakh lives every year due to road accidents. The major reason
accounting for these accidents is distraction and incautiousness
due to which drivers are unable to recognize and follow traffic
signboards. Traffic sign boards are an integral part of the road,
which provide important information and instructions to the
road users, which in turn requires drivers to adhere to the road
regulations. Traffic signs are the most significant and integral
part of engineering the road infrastructure cautioning drivers to
ensure speed awareness, road conditions, and other obstacles.
So, to lessen the road accidents, recognizing and understanding
the traffic symbols is of supreme importance. An intelligent
transport system is the beginning to solve these traffic-related
problems that have not been encountered by the public, so
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Subiksha S
Department of Information Science and Engineering,
Kumaraguru College of Technology, Saravanampatti,
Coimbatore,
e-mail: subiksha.19is@kct.ac.in
SugunaM
Assistant Professor Senior Grade II,
School of Computer Science and Engineering (SCOPE),
Vellore Institute of Technology, Chennai,
e-mail: suguna.m@vit.ac.in
these systems are strikingly different from contemporary
forms. ITS are compatible to recognize traffic signs involving
the significant performance of convolutional neural networks.
Intelligent transport systems are an element of mobility mix
feeder for public transit. Humans are much more subject to
error than the computer so technology does it for us!
This paper discusses deeper about Intelligent traffic sign
detection and recognition systems and it is deployed
combining intelligent cameras with voice bot and information
being processed by the performed software. Traditionally, the
standard computer vision methods were deployed all over to
detect the traffic sign and classify them, but it requires more
manual work to define the features of the images [1-5]. Instead
have come up with a Deep learning model, wherein there is no
need to define the features of images, which can be done
automatically by the neural network with feature engineering.
Deep learning algorithms are reusable and can provide precise
results with a lesser amount of training data. Here CNN
technique is adopted (Convolutional Neural Network or
ConvNet), which falls under the class DNN(Deep Neural
Network), and is a multi-layer neural network, which can
recognize visual patterns with minimal preprocessing from
pixel images, and it is very effective in reducing the amount of
the parameters without losing the quality of the model.
Therefore, to obtain better accuracy and efficiency, the
architectural working of popular CNN architectures(LeNet-5,
Alex Net, VGG, and ResNet)is discussed further, two efficient
models to detect and recognize the traffic sign have been
proposed in this paper.
II. LITERATURE SURVEY
Exploring for an algorithm which provides better accuracy
is crucial to classify any object. Traditional methods deal with
usage of Haar wavelet features obtained from AdaBoost
training to detect traffic signs was proposed by Bahlmann et al
which uses color sensitive wavelet features with Bayesian
classifier with error rate about 15 % on test set containing
traffic sign videos and also has achieved fewer count of false
positives of 1 out every 600 frames.[6].
Changzhen, X. et al. (2016) proposed an approach traffic
sign recognition with limited predefined set of signs using
 2022International Conference on Advanced computing Technologies & Applications (ICACTA), Mar. 04 – 05, 2022, Coimbatore, INDIA

existing defining models in regional language of china with neighborhood pixels were not considered and interpreted as
deep learning convolutional neural networks dividing the separate input features. Some drawbacks are it causes over-
dataset into testing and training model showed about 99% fitting and there is no built-in mechanism to overcome
accuracy using real time detection in video sequences [7]. this.[14][15].
Inception models were proposed by GoogLeNet in 2015,
where there is requirement to decide the type of convolution
network beforehand and all convolutions are made in parallel
resulting in concatenated feature maps before the next layer. It
consisted of a 22-layer CNN with error rate of 6.7% [8].
“Traffic sign detection via interest region extraction” by
Salti et al, deals with robust computer vision algorithms with
pattern recognition and solid image analysis. The major
drawback of this is, it only detects three categories of traffic
symbols (prohibitory,danger, mandatory) [9].
“On circular traffic sign detection and recognition” deals
with colored images which utilizes RGB thresholding Fig. 1. Architectural Diagram of LeNet-5
technique with circular detection algorithm.This method of
approach might have many challenges in real-time due to B. AlexNet
illumination,darkness and unclear images [10]. AlexNet with multi-GPU training is done by splitting half
“Towards Real-Time Traffic Sign Detection and of the model's neurons to two GPUs. Fully connected layers
Classification”, deals with color probability model which have the parameter count really high so it is often very
enhance the specific colors red, blue, yellow and machine computationally expensive. Since fully connected layers
learning algorithms SVM, CNN to classify and detect the possess increased number of parameters it is computationally
traffic signs and have achieved accuracy of 99.65%, but the expensive classifier can be linear (1 fc layer) but the
model will one of be able to classify the images into three performance may be not as expected or nonlinear (> 1 layer)
categories mandatory, prohibitory, mandatory, mandatory but the complexity and model parameters increase
traffic signs [11]. significantly, which might cause overfitting. Alex Net is NOT
deep enough compared to the later model such as VGGNet,
MdTarequl proposed a system “Traffic sign detection and Google Net, and ResNet. Large convolution filters (5*5)
recognition based on convolutional neural networks” consisting shortly after that is not encouraged.Gradient vanishing could
of two separate neural networks,first neural network is to not solve the problem by initiating weights in the neural
identify the shape of contour, another neural network is networks in normal distribution so it is replaced by the Xavier
identified whether the image contains sign or not and if so, the method. The performance is surpassed by more complex
network will classify it. The performance of this model models such asGoogle Net (6.7%), and ResNet(3.6%).[16][17]
compared to other architectural models [12].
“Road Traffic Sign detection and Classification”, involves
two algorithms, the first one identifies the traffic sign in the
image and the second one recognizes the sign, but the model
will only be able to categorize the images into four categories
i.e warning, prohibition,obligation and informative [13].

III. ARCHITECTURES

A. LeNet-5
LeNet-5 is a CNN architecture that learns from raw pixels
of the input image using five layers (convolution,subsampling
and fully connected) later by two fully connected layers with a
reduced count of trainable parameters.Major disadvantages of
a fully connected Neural Network is that it applies
transformation considering each pixel as a separate input
which is computationally very expensive and complex. LeNet
has deployed a methodology to overcome the former problem
by considering the correlation between closer or neighborhood
pixels and distribution of feature motifs all over the
image.Extracting similar features from many regions with
shareable learning parameters has changed the classic Fig.2. Architectural Diagram of AlexNet
perspective of training wherein correlation among

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 2022International Conference on Advanced computing Technologies & Applications (ICACTA), Mar. 04 – 05, 2022, Coimbatore, INDIA

C. VGG NET-16 network increases, the accuracy of the network gets saturated at
VGG 16 is one of the most preferred CNN architectures a particular point and then again decays immediately. To solve
and was developed by Simonyan and Zisserman by 2014.This this problem of degradation, Residual network architecture has
has 16 Convolutional layers (13 convolutional, 3 fully been introduced. This network consists of a novel approach
connected layers). It has a very uniform architecture. The pathway called Skip connection. These connections provide
design of the network is similar to LeNet, AlexNet. It has the alternate pathways for data and gradients to flow and thus
same traditional stacking layer as Alexnet but with different making the training possible. Resnet is built out of Residual
filter size and 138 million parameters. blocks. This network consists of 34 plain network layers,
which was inspired from VGG-19, then skip connections are
Input layer: It has a 3 channel RGB image size 224*224. added between the plain network layer to form a residual
1st layer: It has two 3*3 convolutions in succession network.
followed by a pooling layer. Feature map size reduces to 1 The main advantage of adding skip connections is that if
cross 112cross 112 and each of these 3 cross 3 convolution any layer decreases the performance of resnet architecture,
layers at 64 feature maps. that type of layer will be skipped by regularization[20][21].
2nd layer: Feature map size reduces to 1 cross 56 cross 56
and each of these 3 cross 3 convolutional layers at 128feature
maps.
3rd layer: Feature map size reduces to 1 cross 28 cross 28
and each of these 3 cross 3 convolutional layers at 256feature
maps.
4th layer: It has three 3*3 convolutions in succession
followed by a pooling layer. Feature map size reduces to 1
cross 14cross 14 and each of these 3 cross 3 convolution layers
at 512feature maps.
5th layer: It also has three 3*3 convolutions in succession
followed by a pooling layer. Feature map size reduces to 1
cross 7cross 7 and each of these 3 cross 3 convolution layers at
512feature maps.
After the fifth layer they rasterized and connected to three
fully connected layers. Finally, the output will be one of 1000
classification.[18][19].

Fig.3. Architectural Diagram of VGGNET-16

D. RESNET 34
Kaiming He et al developed Resnet in 2015, which
produced an error rate under 3.6%, with 152 layers (deep [22]
CNN). It has been observed that as the depth of the neural Fig.4. Architectural Diagram of ResNet-34

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 2022International Conference on Advanced computing Technologies & Applications (ICACTA), Mar. 04 – 05, 2022, Coimbatore, INDIA

IV. DATASET TABULATION Human competitive result accuracy have been obtained.

Fig.6. Block Diagram for ResNet Model

B. Preparation:
To begin the process first step is preparation of the
environment, installation of fastai library and its dependencies.
After the preparation of the environment, the dataset is split as
training set with 80% images and validation set with 20%
images.

C. Exploratory Analysis:
Exploratory data analysis is the process of analyzing data
to summarize the main characteristic of the data using
visualization methods, a complete understanding of the dataset
is necessary, so first explore the number of classes and images
in the dataset.Since the images have different sizes, explore the
size of the images through histogram,which will give us an
insight of the input dimension for the network.

Fig 5. Dataset Tabulation

V. PROPOSED METHODOLOGY-I

A. Why RESNET?
Experimental results depict that with increasing learning
rate in log scale there is an increase in loss. The overall test
accuracy obtained by the Resnet model serves to be the highest
among all the models specified in the below table.
TABLEI
ACCURACY OF VARIOUS MODEL Fig.7. Histogram Plot of Dataset

VGG-19 VGG-16 ALEXNET LENET-5 RESNET D. Image augmentation:

Image augmentation is the process of changing the existing
85.5 98.7 95.3 92.7 99.612 data to create further more data for training the model, it
therefore artificially increases the training sample available,

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 2022International Conference on Advanced computing Technologies & Applications (ICACTA), Mar. 04 – 05, 2022, Coimbatore, INDIA

without changing the label image from where it is accuracy.

generated.There are different image augmentation techniques
like image rotation, image shifting, image flipping,image
noising, image blurring.Here a combination of image
augmentation techniques like rotation up to 20 degrees,
lightning change of 80% and zoom of 20% is used.

Fig.10. Code Snippet of accuracy of the model

H. Test-time augmentation:
Accuracy of the model has been improved by using test time
augmentation. This is similar to the Image Augmentation
technique which was performed earlier, few augmented
versions of input images will be created, predictions will be
run on each of them, and then average results will be
calculated. TTA helped us to increase the accuracy to
99.612% and reduced the error by 45%.

Fig.8. Augmented Images

E. Training:
For the training of the model,use a pre-trained ResNet 34
on the image net dataset. Start with small model input and
small training procedure(2 epoch), then the batch size is
optimized.Theoretically it has been said that larger batch size
reduces training time.But experimentally the larger batch size
leads to lower validation accuracy, and the models starts over-
fitting, so take batch size as 256. After finding a decent set of
hyper-parameters, the model has switched to high training
procedure and high input model.
Fig.11. Code Snippet of accuracy of the model
VI. PROPOSED METHODOLOGY-II
Requirement of high performance of computational resources
and need to minimize cost is of major importance so this
methodology presents a modified version of well-known
VGGNet having 16-19 layers, with 12 layers.

F. Error Analysis: A. Block Diagram:

Here error is analyzed by examining a few cases like most
incorrect prediction, most correct prediction, most uncertain
predictions. To find the most incorrect prediction, inference on
the validation set has to be done and select the smallest
predicted probability on the correct class. For the most correct
prediction highest predicted probability on the correct class
has to be selectedand where the probability of the correct class
is near to 1/ num_classes are the most uncertain prediction.

Fig.9. Augmented Images

After error analysis we have adjusted the image augmentation

parameters and some hyper-parameters of the model.
Fig.12. Block diagram of Modified VGG model
G. Testing:
The accuracy of the test set consisting of 12630 images is
99.2953%

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 2022International Conference on Advanced computing Technologies & Applications (ICACTA), Mar. 04 – 05, 2022, Coimbatore, INDIA

B. Layers Description: maps and each linked to a 16X16X64 neighborhood's fifth

layer is a convolutional layer with 16X16X64 feature maps
and each linked to a 16X16X64 neighborhood's sixth layer is a
pooling layer with 16x16x64 feature maps and each linked to
a 8x8x64 neighborhood's seventh layer is a convolutional
layer with 8x8x64 feature maps and each linked to a 8x8x128
neighborhood's eighth layer is a convolutional layer with
8x8x128 feature maps and each linked to a 8x8x128
neighborhood's ninth layer is a pooling layer with 8x8x128
feature maps and each linked to a 4x4x128 neighborhood.
Flatten the output shape of the final pooling layer such that it's
1D instead of 3D with input 4x4x128 and output 2048.The
tenth layer is a fully connected layer with input 2048 and
output 128.The eleventh layer is a fully connected layer with
input 128 and output 128.The twelfth layer is a fully
connected layer with input 128 and 43 outputs. The
normalized images are used to train the model through training
pipeline. As the iterations increase the learning rate drastically
increases above the minimum threshold value with improved
Fig. 13. Layer Description of the Model optimized Resnet architecture. The experiments were
performed with many epoch sizes from 0 to 14, the below
C. Test Accuracy Of Proposed Model: table shows training loss, validation loss and accuracy
performed using the model over various epoch sizes. In this
experiment, the normalized images are trained to two types of
neural networks LeNet and VGGNet. With learning rate 0.01
LeNet has reached 95.35% accuracy on 30 epochs whereas
VGGNet 98.32% on 10 epochs. To test labels, VGGNet is
used and 97.6% test accuracy was obtained.

Fig.14. Code Snippet of accuracy of the model

VII. RESULT AND DISCUSSION

The experiment was performed with 34799 training images
and 12630 test images with 4 key/value pairs ‘features’
containing raw pixel data of traffic sign images, ‘labels’
containing the label/class id, ‘sizes’ (width, height) and
‘coords’containing coordinates of a bounding box around the
sign in the image. The input images were preprocessed with
several techniques like shuffling to increase randomness and
variety of the images. Furthermore, the images were processed
with gray scaling, Local Histogram Equalization and
normalization. The pre-processed images were used to train
various ConvNets, as ConvNets are capable of learning
automatically the visual patterns from pixel images. Two
optimal methods Resnet34, modified VGGNet. For the CNN
implementation 12 layers has been used using minimal
computational resources with very small (3x3) convolution Fig.15. Tabulation of losses and Accuracy of the model
filters. The first hidden layer is a convolutional layer with
VIII. FUTUREWORK
32x32x1 feature maps and each linked to a 32X32X32
neighborhood. The second layer is a convolutional layer with In future, the text to speech conversion can be fed with deep
32x32x32 feature maps and each linked to a 32X32X32 neural networks and converted to voice bot-basedsystems. It
neighborhood's third layer is a pooling layer with 32x32x32 would be of great interest if this system in near future is
feature maps and each linked to a 16X16X32 neighborhood's integrated with automatic dipping system in which the
fourth layer is a convolutional layer with 16x16x32 feature controlling of headlamps can be done with image sensor and
controller to generate control signals resulting in a high-beam

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 2022International Conference on Advanced computing Technologies & Applications (ICACTA), Mar. 04 – 05, 2022, Coimbatore, INDIA
headlamp control system[23].For broader analysis of
results Amazon Web Server Deep Learning AMIs (Amazon
Machine Images) is used to prevent longer training time by
accelerating training and testing time by the use of
infrastructure and the tools that AMIs contain and it could be
done both in the cloud and at any scale[24].
IX. CONCLUSION
This paper discusses about two efficient and optimal method
for detecting and recognizing traffic signs, which aimed to
reduce the problems faced by the drivers in recognizing the
traffic signs, decrease the road accidents caused due to
disobeying road signals, and to increase the awareness about
the traffic signs. To achieve this, a deep learning based pre
trained transfer learning model ResNet 34, modified VGG
model with 12 layers for accurate detection and recognition 42
classes of traffic signals with around 40,000 images is
proposed and obtained the accuracy of 99.612%, 97.12%. The
detected output will be further moved to a set of algorithms
where the output(text) will be converted into speech, and the
end result will be provided as voice to the users.
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