In this paper, we provide a survey of the traffic sign detection literature, detailing detection systems for Traffic Sign Recognition (TSR) for driver assistance. We separately describe the contributions of recent works to the various stages inherent in traffic sign detection: segmentation, feature extraction, and final sign detection. While TSR is a well-established research area, we highlight open research issues in the literature, including a dearth of use of publicly-available image databases, and the over-representation of European traffic signs. Further, we discuss future directions for TSR research, including integration of context and localization. We also introduce a new public database containing US traffic signs
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