Design

Detection Technique

Recognition Technique

Test

Dataset

Recognition

Rate

Image

Size

Technology

Area/Gate Count

Freq.

(MHz)

Speed

(ms/frame)

[28]

HSV color space, median filter, CCL

Border-vectors,

Constructed neural network

N/A

N/A

640 × 480

Xilinx Virtex 4

160 K NAND

88

16

[29]

HSV color space,

Morphological Filtering, CCL

Template matching

N/A

N/A

320 × 240

Xilinx Virtex 5

N/A

100

114

[30]

HSI color space, Filtering, CCL

Border descriptor

(shape only)

N/A

N/A

1280 × 720

Xilinx

Spartan 6

N/A

75

16.6

[31]

Multiscale Retinex,

Template matching

SIFT descriptor,

SVM classifier

N/A

90%

320 × 240

130 nm

10.61 mm2

200

33.3

This work

NRB

color transform, CCL

HOG descriptor, SVM classifier

GTSDB

90.85%

1360 × 800

90 nm

0.26 mm2

105

7.4