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Robust and fast traffic sign recognition is very important but difficult for safe driving assistance systems. This study addresses fast and robust traffic sign recognition to enhance driving safety. The proposed method includes three stages. First, a typical Hough transformation is adopted to implement coarse-grained location of the candidate regions of traffic signs. Second, a RIBP (Rotation Invariant Binary Pattern) based feature in the affine and Gaussian space is proposed to reduce the timedoi:10.3390/s150102161 pmid:25608217 pmcid:PMC4327121 fatcat:hlwquchsubbirajzji35rttngq