1. A system for traffic sign detection, tracking, and recognition using color, shape, and motion information;Bahlmann,2005
2. US patent 3971065: color imaging array;Bayer,1975
3. Random forests;Breiman;Machine Learning,2001
4. Real time road signs recognition;Broggi,2007
5. A committee of neural networks for traffic sign classification;Ciresan,2011