LAUSR

Environment awareness technology is one of the most critical technologies for autonomous vehicles, and traffic sign recognition is an important branch of environment awareness system, which has important research significance for ensuring traffic safety. To solve the problems of easy omission and inaccurate positioning for traffic sign detection under complex illumination conditions, there are two main innovations in this paper: firstly, an adaptive image enhancement algorithm was proposed to improve the image quality under complex illumination conditions; Secondly, a novel and lightweight attention block named Feature difference (FD) model was proposed to detect and recognize traffic signs. Unlike state-of-the-art attention models, which utilizes the difference between two feature maps to generate the attention mask. In this work, the single-stage target detection algorithm SSD was selected as the basic network, the backbone network was set as ResNet and VGG respectively and FD module was added. A large number of experiments were carried out to evaluate the optimization effect of FD module. The following conclusions can be drawn: image enhancement algorithms can provide better image samples; The FD model can be integrated into most of CNNs just by adding some shortcut connections, which does not introduce any additional parameters and layers; The average detection accuracy with FD module is 1.80% higher and the average recall rate was 1.51% higher than that without FD module, which has no great influence on the running speed. The FD module has better enhancement effect for dark image detection; The detection accuracy of the FD module is slightly better than other attention modules including BAM, CBAM and SE; The FD model can be used to evaluate the effect of the convolutional operation on features, which could help to find convolutional layers that have little effect on the accuracy of recognition for the network pruning.