“…Furthermore, some methods worked only with recognition and not with detection, perhaps because of the lack of data. Only after large databases were made available (such as the well-known German Traffic Sign Recognition (GTSRB) (Stallkamp et al, 2012) and Detection (GTSDB) (Houben et al, 2013) Benchmarks, with 51,839 and 900 frames, respectively) that learning-based approaches (Houben et al, 2013;Mathias et al, 2013) could finally show their power, although some of them were able to cope with fewer examples (De Souza et al, 2013a). With the release of even larger databases (such as STSD (Larsson & Felsberg, 2011) with over 20,000 frames, LISA (Jensen et al, 2016b) with 6,610 frames, BTS (Mathias et al, 2013) 25,634 frames for detection and 7,125 frames for classification, and Tsinghua-Tencent 100K (Zhu et al, 2016) with 100,000 frames), learning-based approaches improved and achieved far better results when compared to their model-based counterparts.…”