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Confusion matrix of Semarang-Solo road_
| Haar–PHOG | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| HOG | PHOG | LL | LL HL LH | LL HL LH HH | ||||||
| Semarang-Solo | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) |
| Actual (No) | 1,896 | 232 | 1,807 | 172 | 1,881 | 161 | 1,865 | 145 | 1,868 | 145 |
| Actual (Yes) | 27 | 867 | 116 | 927 | 42 | 938 | 58 | 954 | 55 | 954 |
Confusion matrix of Semarang-Yogyakarta road_
| Haar–PHOG | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| HOG | PHOG | LL | LL HL LH | LL HL LH HH | ||||||
| Semarang-Yogyakarta | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) |
| Actual (No) | 2,492 | 132 | 2,356 | 144 | 2,471 | 84 | 2,451 | 56 | 2,451 | 52 |
| Actual (Yes) | 59 | 797 | 195 | 785 | 80 | 845 | 100 | 873 | 100 | 877 |
Confusion matrix of Semarang-Salatiga toll road_
| Haar–PHOG | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| HOG | PHOG | LL | LL HL LH | LL HL LH HH | ||||||
| Semarang-Salatiga toll | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) |
| Actual (No) | 1,504 | 123 | 1,421 | 162 | 1,427 | 103 | 1,433 | 79 | 1,431 | 73 |
| Actual (Yes) | 13 | 859 | 96 | 820 | 90 | 879 | 84 | 903 | 86 | 909 |
Comparison of precision HOG, PHOG, and Haar–PHOG features_
| Precision (%) | |||||
|---|---|---|---|---|---|
| HOG | PHOG | Haar–PHOG | |||
| Road | Fleyeh (2015) | LL | LL HL LH | LL HL LH HH | |
| Solo-Yogyakarta | 90.55 | 90.29 | 95.14 | 96.70 | 96.44 |
| SMG-Yogyakarta | 85.79 | 84.50 | 90.96 | 93.97 | 94.40 |
| SMG-Solo | 78.89 | 84.35 | 85.35 | 86.81 | 86.81 |
| SMG-SLTG-Toll | 87.47 | 83.50 | 89.51 | 91.96 | 92.57 |
Comparison of accuracy HOG, PHOG, and Haar–PHOG features_
| Accuracy (%) | |||||
|---|---|---|---|---|---|
| HOG | PHOG | Haar–PHOG | |||
| Road | Fleyeh (2015) | LL | LL HL LH | LL HL LH HH | |
| Solo-Yogyakarta | 95.99 | 92.63 | 97.18 | 97.44 | 97.24 |
| SMG-Yogyakarta | 94.51 | 90.26 | 95.29 | 95.52 | 95.63 |
| SMG-Solo | 91.43 | 90.47 | 93.28 | 93.28 | 93.38 |
| SMG-SLTG-Toll | 94.56 | 89.68 | 92.28 | 93.48 | 93.64 |
Testing time of HOG, PHOG, and Haar–PHOG features_
| Testing time (milliseconds) | |||||
|---|---|---|---|---|---|
| Haar–PHOG | |||||
| Road | HOG | PHOG | LL | LL HL LH | LL HL LH HH |
| Solo-Yogyakarta | 18.40 | 3.90 | 3.00 | 4.50 | 5.00 |
| SMG-Yogyakarta | 19.00 | 4.40 | 2.60 | 4.40 | 5.00 |
| SMG-Solo | 19.50 | 4.00 | 2.60 | 4.40 | 5.10 |
| SMG-SLTG-TOLL | 19.80 | 4.00 | 2.80 | 4.60 | 5.30 |
| Average | 19.18 | 4.08 | 2.75 | 4.48 | 5.10 |
Composition of training and testing data_
| Training data (ROI) | ||||
|---|---|---|---|---|
| Road | Positive | Negative | Testing data (frame) | Number of traffic sign |
| Solo-Yogyakarta | 1,500 | 1,500 | 1,100 | 1,153 |
| Semarang-Yogyakarta | 1,500 | 1,500 | 950 | 929 |
| Semarang-Solo | 1,500 | 1,500 | 1,000 | 1,099 |
| Semarang – Salatiga Toll Roads | 1,500 | 1,500 | 950 | 982 |
Comparison of recall HOG, PHOG, and Haar–PHOG features_
| Recall (%) | |||||
|---|---|---|---|---|---|
| HOG | PHOG | Haar–PHOG | |||
| Road | Fleyeh (2015) | LL | LL HL LH | LL HL LH HH | |
| Solo-Yogyakarta | 97.03 | 87.63 | 96.23 | 95.54 | 95.21 |
| SMG-Yogyakarta | 93.11 | 80.10 | 91.35 | 89.72 | 89.76 |
| SMG-Solo | 96.98 | 88.88 | 95.71 | 94.27 | 94.55 |
| SMG-SLTG-Toll | 98.51 | 89.52 | 90.71 | 91.49 | 91.36 |
Range of hue and saturation threshold values_
| Color | Hue | Saturation |
|---|---|---|
| Red | H ≥ 290 or H ≤ 15 | S ≥ 10 |
| Yellow | 20 ≤ H ≤ 65 | S ≥ 150 |
| Green | 180 < H ≤ 280 | S ≥ 10 |
Confusion matrix of Solo-Yogyakarta road_
| Haar–PHOG | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| HOG | PHOG | LL | LL HL LH | LL HL LH HH | ||||||
| Solo-Yogyakarta | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) | Predict (No) | Predict (Yes) |
| Actual (No) | 2,328 | 109 | 2,213 | 112 | 2,317 | 56 | 2,308 | 38 | 2,304 | 41 |
| Actual (Yes) | 32 | 1,044 | 147 | 1,041 | 43 | 1,097 | 52 | 1,115 | 56 | 1,112 |
The training time of HOG, PHOG, and Haar–PHOG features_
| Training time (sec) | |||||
|---|---|---|---|---|---|
| Haar–PHOG | |||||
| Road | HOG | PHOG | LL | LL HL LH | LL HL LH HH |
| Solo-Yogyakarta | 148.38 | 512.66 | 15.73 | 27.31 | 32.78 |
| SMG-Yogyakarta | 148.02 | 555.50 | 16.25 | 27.05 | 32.59 |
| SMG-Solo | 168.98 | 537.25 | 15.73 | 28.73 | 33.66 |
| SMG-SLTG-Toll | 165.03 | 583.41 | 18.06 | 32.05 | 35.61 |
| Average | 157.60 | 547.20 | 16.45 | 28.79 | 33.66 |