Fig. 1. Texture and 3D model database of traffic sign

Fig. 2. Data synthesis based on 3D model transformation

Fig. 3. Data synthesis based on 3D model transformation

Fig. 4. Overall framework of the proposed method

Fig. 5. Deep learning-based neural network for traffic sign detection

Fig. 6. Corresponding point extraction with geometric constraints

Fig. 7. Deep learning-based neural network for traffic sign detection

Fig. 8. Traffic sign detection results

Fig. 9. 3D point clouds of traffic sign generated by triangulation

Fig. 10. Traffic sign embedded modeling results