Our aim was to make a real time speed limit sign recogntiton sytem for the geneva convention. We used CTC (centroid to contour method) described in the paper " Real-time embedded implementation of robust speed-limit sign recognition using a novel centroid-to-contour description method" by Chi-Yi Tsai , Hsien-Chen Liao, Kuang-Jui Hsu IET Comput. Vis., 2017, Vol. 11 Iss. 6, pp. 407-414
This code is written in C++. The xml file for cascade trainer for detection of speed sign form the images captured by car camera is made using Amin Ahmadi's cascade trainer GUI which can be accessed using the link amin-ahmadi.com/cascade-trainer-gui/