This paper proposes an improved color barycenter model (CBM) and its separation for automatic road sign (RS) detection. The previous version of CBM can find out the colors of RS, but the accuracy is not high enough for separating the magenta and blue regions and the influence of number with the same color are not considered. In this paper, the improved CBM expands the barycenter distribution to cylindrical coordinate system (CCS) and takes the number of colors at each position into account for clustering. Under this distribution, the color information can be represented more clearly for analyzing. Then aim to the characteristic of barycenter distribution in CBM (CBM-BD), a constrained clustering method is presented to cluster the CBM-BD in CCS. Although the proposed clustering method looks like conventional K-means in some part, it can solve some limitations of K-means in our research. The experimental results show that the proposed method is able to detect RS with high robustness.

The influence of noise is an important problem on image acquisition and transmission stages. The traditional image denoising approaches only analyzing the pixels of local region with a moving window, which calculated by neighbor pixels to denoise. Recently, this research has been focused on the transform domain and feature space. Compare with the traditional approaches, the global multi-scale analyzing and unchangeable noise distribution is the advantage. Apparently, the estimation based methods can be used in transform domain and get better effect. This paper proposed a new approach to image denoising in orthonormal wavelet domain. In this paper, we adopt Stein's unbiased risk estimate (SURE) based method to denoise the low-frequency bands and the feature patches distance constraint (FPDC) method also be proposed to estimate the noise free bands in Wavelet domain. The key point is that how to divide the lower frequency sub-bands and the higher frequency sub-bands, and do interscale SURE and intrascale FPDC, respectively. We compared our denoising method with some well-known and new denoising algorithms, the experimental results show that the proposed method can give better performance and keep more detail information in most objective and subjective criteria than other methods.

This paper presents a novel color descriptor based on the proposed Color Barycenter Hexagon (CBH) model for automatic Road-Sign (RS) detection. In the visual Driver Assistance System (DAS), RS detection is one of the most important factors. The system provides drivers with important information on driving safety. Different color combinations of RS indicate different functionalities; hence a robust color detector should be designed to address color changes in natural surroundings. The CBH model is constructed with barycenter distribution in the created color triangle, which represents RS colors in a more compact way. For detecting RS, the CBH model is used to segment color information at the initial step. Furthermore, a judgment process is applied to verify each RS candidate through the size, aspect ratio, and color ratio. Experimental results show that the proposed method is able to detect RS with robust, accurate performance and is invariant to light and scale in more complex surroundings.