Robust, Real-Time Number Sign Detection on a Mobile Outdoor Robot.

We present the evolution of a highly-efficient system for visually detecting number signs in real-time on a mobile robot with limited computational power. The system was designed for use on a robot participating in the 2010 "SICK robot day" robotics challenge, in which the robot needed to autonomously find 10 number signs and drive to all of them in a given order as fast as possible. Our most efficient method has proven to be robust and successful, since our robot won the competition using the final vision systems described in this paper.