[1] Yang B S, Fang L N, Li Q Q et al. Automated extraction of road markings from mobile lidar point clouds[J]. Photogrammetric Engineering and Remote Sensing, 78, 331-338(2012).

[2] Wang Z, Zhang L Q, Fang T et al. A multiscale and hierarchical feature extraction method for terrestrial laser scanning point cloud classification[J]. IEEE Transactions on Geoscience and Remote Sensing, 53, 2409-2425(2015).

[3] Burt A, Disney M, Calders K. Extracting individual trees from lidar point clouds using treeseg[J]. Methods in Ecology and Evolution, 10, 438-445(2019).

[4] Yang M M, Wan Y C, Liu X L et al. Rapid automatic location and extraction for manhole covers based on ground mobile mapping system[J]. Chinese Journal of Lasers, 45, 0804001(2018).

[5] Huang G, Liu X L. Automatic extraction and classification of road markings based on deep learning[J]. Chinese Journal of Lasers, 46, 0804002(2019).

[6] Yu Y T, Li J, Guan H Y et al. Automated extraction of urban road facilities using mobile laser scanning data[J]. IEEE Transactions on Intelligent Transportation Systems, 16, 2167-2181(2015).

[7] Jung J, Che E Z, Olsen M J et al. Efficient and robust lane marking extraction from mobile lidar point clouds[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 147, 1-18(2019).

[8] Ritter W. Traffic sign recognition in color image sequences. [C]∥Proceedings of the Intelligent Vehicles '92 Symposium, June 29-July 1, 1992, Detroit, MI, USA. New York: IEEE, 12-17(1992).

[9] Gao X W, Podladchikova L, Shaposhnikov D et al. Recognition of traffic signs based on their colour and shape features extracted using human vision models[J]. Journal of Visual Communication and Image Representation, 17, 675-685(2006).

[10] Yang Y, Luo H L, Xu H R et al. Towards real-time traffic sign detection and classification[J]. IEEE Transactions on Intelligent Transportation Systems, 17, 2022-2031(2016).

[11] Hoferlin B, Zimmermann K. Towards reliable traffic sign recognition. [C]∥2009 IEEE Intelligent Vehicles Symposium, June 3-5, 2009, Xi'an, China. New York: IEEE, 324-329(2009).

[12] Fleyeh H. Road and traffic sign detection and recognition. [C]∥Proceedings of the 16th Mini-EURO Conference, September 13-16, 2005, Poznan, Poland. Uppsala: DiVA, 644-653(2005).

[13] Girshick R, Donahue J, Darrell T et al. Rich feature hierarchies for accurate object detection and semantic segmentation. [C]∥2014 IEEE Conference on Computer Vision and Pattern Recognition, June 23-28, 2014, Columbus, OH, USA. New York: IEEE, 580-587(2014).

[14] Ma Y J, Li X Y, Song X F. Trafficsign recognition based on improved deep convolution neural network[J]. Laser & Optoelectronics Progress, 55, 121009(2018).

[15] Ren S Q, He K M, Girshick R et al. Faster R-CNN: towards real-time object detection with region proposal networks[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 39, 1137-1149(2017).

[16] Liu W, Anguelov D, Erhan D et al. SSD: single shot MultiBox detector[M]. ∥Leibe B, Matas J, Sebe N, et al. Computer vision-ECCV 2016. Lecture notes in computer science. Cham: Springer, 9905, 21-37(2016).

[17] Redmon J, Farhadi A. YOLO9000: better. -12-25)[2020-03-24]. https:∥arxiv., org/abs/1612, 08242(2016).

[18] Redmon J. -04-08)[2020-03-24]. https:∥arxiv., org/abs/1804, 02767(2018).

[19] Yang Z, Liu Y L, Liu L R et al. Detecting small objects in urban settings using SlimNet model[J]. IEEE Transactions on Geoscience and Remote Sensing, 57, 8445-8457(2019).

[20] Zhu Z, Liang D, Zhang S H et al. Traffic-sign detection and classification in the wild. [C]∥2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 27-30, 2016, Las Vegas, NV, USA. New York: IEEE, 2110-2118(2016).

[22] Everingham M, van Gool L, Williams C K I et al. The pascal visual object classes (VOC) challenge[J]. International Journal of Computer Vision, 88, 303-338(2010).

[23] Lin T Y, Maire M, Belongie S et al. Microsoft COCO: common objects in context[M]. ∥Fleet D, Pajdla T, Schiele B, et al. Computer vision - ECCV 2014. Lecture notes in computer science. Cham: Springer, 8693, 740-755(2014).