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GPU Accelerated Number Plate Localization in

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Article · November 2015

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International Journal of Advances in Intelligent Informatics ISSN: 2442-6571
Vol 1, No 3, November 2015, pp. 150-157 150

GPU Accelerated Number Plate Localization in Crowded

Situation
Adhi Praharaa,1,*, Andri Pranoloa,2, Rafał Dreżewskib,3
a Informatics Department,Universitas Ahmad Dahlan, Umbul Harjo, Yogyakarta 55164, Indonesia
bDepartment of Computer Science, AGH University of Science and Technology, Kraków, Poland1
1
[email protected]*, [email protected], [email protected]

ARTICLE INFO ABSTRACT

Article history: Number Plate Localization (NPL) has been widely used as part of
Received September 15, 2015 Automatic Number Plate Recognition (ANPR) system. NPL method
Revised October 07, 2015 determines the accuracy of ANPR system. Although it is a mature
Accepted November 30, 2015 research, the challenge still persists especially in crowded situation
where many vehicles are present. Therefore, a method is proposed to
localize number plate in a crowded situation. The proposed NPL
method uses vertical edge density to extract potential region of
number plate and then detects the number plate using combination of
Keywords: Histogram of Oriented Gradients (HOG) and Support Vector Machine
Number Plate (SVM). The method employs GPU to deal with multiple number plate
Plate Localization detection, to handle multi-scale detection window, and to perform real
Vertical Edge Detection time detection. The experimental results are very promising, 0.9883
HOG value of AUC (Area Under Curve), and 0.9362 of BAC (Balance
SVM Accuracy). Moreover, potential real time detection is foreseen because
GPU total process is executed in less than 50ms. Errors are mainly caused
by background that contain letters, non-standard number plate and
highly covered number plate.
Copyright © 2015 International Journal of Advances in Intelligent Informatics.
All rights reserved.

I. Introduction
Number Plate Localization (NPL) is very important in Automatic Number Plate Recognition
(ANPR) system. ANPR system is used for reading a vehicle registration plates on image or video.
ANPR system can be found in toll gate payment system and traffic monitoring system. In ANPR
system, NPL stage determines the accuracy of number plate detection. In research presented at [1-5],
localization accuracy of number plate has been achieved quite well especially by using edge detection
method combined with morphological operations. Edge detection method is fast in the term of
processing time. However, it is mostly used to detect single or multiple number plates in normal
condition. In a crowded situation such as in the traffic or parking area, many edges will be found. It
will make the edge detection algorithm not sufficient to be used as a primary detector.
Some problems that can be found in a crowded situation are multiple number plates with variety
of size, variations in lighting, non-standard / modified number plates, tilted number plates, and the
traffic density that make a part of number plate covered with other objects. Moreover, number plate
localization requires a fast and accurate method to detect number plate. Therefore, a method is
proposed to localize number plate in crowded situation by using vertical edge density (VED) and a
combination of histogram of oriented gradients (HOG) and support vector machine (SVM) running
on Graphical Processing Unit (GPU). GPU is used to accelerate the localization method with its
parallel processing. With GPU support, number plate localization is expected to be processed in real
time.

II. Related Works

Many researchers had developed NPL methods and achieved good result. Zahedi and Salehi used
SIFT (Scale Invariant Feature Transform) for license plate recognition (LPR) [1]. They extracted SIFT
on sample image and target image then compared the key points to detect license plate. Test result

DOI: http://dx.doi.org/10.12928/ijain.v1i3.p150-157 W : http://ijain.org | E : [email protected]

ISSN: 2442-6571 International Journal of Advances in Intelligent Informatics 151
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showed that SIFT alone could detect license plate with accuracy up to 84%. The error was mainly
caused by key points coming from the background. To increase the detection rate, they used
preprocessing step by calculating density of vertical edge to crop the license plate candidate. By using
preprocessing step before matching with SIFT, the recognition rate increased to 89%.
Mai et. al used edge based and morphological operation to locate license plate [2]. The system
combined morphological and image subtraction operation on grayscale image to reduce license plate
candidate area. They did image binarization based on threshold, edge detection using Canny, and
morphological operation on binary image to remove small objects. They calculated the angle of license
plate (LP) and then rotating license plate based on Radon transform and bilinear interpolation. They
cut the license plate region based on measuring properties of Vietnam license plate regions. The test
result showed 97.27% accuracy.
Tarabek presented a robust algorithm for license plate detection that could detect multiple license
plates with various sizes in complex backgrounds [3]. The system used vertical edges and edge density
features to find candidate license plate regions. The candidates were selected based on geometrical
and textural properties. The efficiency of the method was improved using the integral edge image and
two-stage candidate window detection. The results showed robustness and efficiency of proposed
method.
Al-Ghaili et. al proposed a fast method of a car license plate detection [4]. They proposed a fast
vertical edge detection algorithm (VEDA) based on the contrast between the grayscale pixels. VEDA
was applied to detect vertical edges on previously enhanced image by using an unwanted-line
elimination algorithm (ULEA) after binarizing the input image using adaptive thresholding (AT).
They detected license plate by extracting the candidate region based on statistical and logical
operations. The results showed accurate edge detection performance and faster processing than Sobel
by five to nine times.
Dehshibi and Allahverdi used multiclass AdaBoost to detect Persian license plate [5]. The system
consisted of plate localization, normalization, and license plate recognition. The highlighted step was
multiclass AdaBoost to perform license plate localization. They used morphological operations before
applying AdaBoost with haar-like features. The classifier was a ten-layer cascade of AdaBoost
classifiers which included a total of 1800 features. The plate localization method had 96.93% accuracy
on type 1 of Persian license plate.
The proposed method uses vertical edge density (VED) to extract candidate area of number plate
and eliminate most of the background. Histogram of Oriented Gradients (HOG) is extracted on the
candidate area and then used as input for Linear-Support Vector Machine (Linear-SVM) to be
classified into number plate and non-number plate category. Edge-based detection technique is used
because it is easy, straightforward [6] and resulted in good performance as mentioned in [1-4]. The
combination of HOG and SVM is widely used in detection system and has a good performance [7]
[8]. HOG is one of strong texture descriptor and has its own mechanism to deal with lighting as
mentioned in [7]. Machine learning classifier gives good accuracy to deal with various condition.
SVM is chosen because it has high tolerance level to new data sample, easy to tune the parameter, and
need small data training.

III. Methodology
The GPU accelerated number plate localization in crowded situation system uses combination of
two localization methods and uses GPU as computing unit as shown in Fig. 1. In order to perform
calculation in GPU, input image needs to be uploaded from CPU to GPU. The first stage of the method
is localization of number plate region using vertical edge density. Input image is converted to
grayscale then vertical edges are extracted using Sobel filter. To calculate the edges density, a box
filter is used. Vertical edge density localized the region of number plate by removing most of the
background with less density of vertical edges. Number plate region is determined by selecting area
that has edge density above the given threshold.
At the second localization stage, HOG descriptors are extracted from the number plate region.
Multi scale window is set up to perform multi window detection on number plate image. Detection is
done using Linear-SVM with HOG features as an input and number plate category as an output.

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The proposed method was built using Visual Studio 2010 with C++ language in addition of
OpenCV 2.4.10 library with GPU support and NVidia CUDA Toolkit 6.5. Method runs on laptop with
Intel Core i5 processor, NVidia GT 450M 2GB, and 8GB of RAM. All the methods use OpenCV
library.

Fig. 1 Number Plate Localization (NPL) method

A. Dataset
The dataset is a collection of traffic and parking area images from the internet and observation
taken in daytime. The samples contain many vehicles with reasonable size and orientation of number
plate that can be seen clearly by human. Training data are number plate cropped manually from
training images and collection of negative data obtained from traffic and parking area environment in
various size and orientation. Test data are images of vehicles in the street or parking area.
B. General Purpose-Graphic Processing Unit (GP-GPU)
Most of graphics hardware is reinforced with Graphic Processing Unit (GPU). GPU is a high-level
parallel architecture used to do fast operation in computer graphics. Usually GPU is used to convert
numbers to image (computer graphics) and now can be used to convert image to numbers (computer
vision). That process is known as GP-GPU (General Purpose-GPU) which used graphics card to do
computation other than graphics [9]. GPU approach 2D image processing as 3D processing. Simply
put, a quadrilateral polygon aligned to the area box on the screen and the image is rendered into the
screen or as a buffer in memory. GPU executes many pixel shaders on floating-point image each time
in parallel. This allows flexibility and precision pixel operations to be executed on the GPU without
any lost in image quality.
C. Vertical Edge Density
Number plate area contains abundant of edges that is why edge-based technique is very effective
to localize number plate. Compared to horizontal edge, vertical edge on number plate is stronger.
Vertical edge is extracted using Sobel filter with vertical kernel operator [6]. By using vertical edge
extracted by Sobel filter, a box filter is applied to calculate the local edge density. The region with
edge density value greater than threshold is considered as region of number plate.
D. Feature Extraction
Histogram of Oriented Gradients (HOG) is used for feature extraction on number plate region.
According to [7] in order to extract HOG descriptors on image, first we normalize gamma and color
from input image then calculate the gradient. For color image, gradients are computed for each color
channel, then the one with the largest norm is taken as the pixel’s gradient vector. Image is divided

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into small spatial regions called cells. For each cell, accumulating a local 1-D histogram of gradient
directions or edge orientations over the pixel of the cell. Orientation bins are evenly spaced over 0-
180 degree (unsigned gradient) with 20 degree for each space. The nine orientation bins are filled with
the weighted magnitude for each orientation. The cells is organized into overlapping blocks and
perform contrast normalization on the overlapping blocks for better invariance to illumination and
shadowing. A set of features is obtained by collecting features on all blocks.
E. Classification
Support Vector Machine is used as classifier to detect number plate. SVM is a classifier that
determined by separator called hyperplane. Hyperplane can be calculated by maximizing margin or
distance from two set of object of two different class. Classification with SVM consist of training and
classification. In the training step [10], if there are given training data 𝑥𝑥𝑖𝑖 ∈ 𝑅𝑅 𝑛𝑛 , 𝑖𝑖 = 1, … 𝑙𝑙 in two classes
and label 𝑦𝑦 ∈ 𝑅𝑅 𝑙𝑙 such that 𝑦𝑦𝑖𝑖 ∈ {1, −1}, it can be solved with (1).
𝑙𝑙
1
𝑚𝑚𝑚𝑚𝑚𝑚 𝑤𝑤 𝑇𝑇 𝑤𝑤 + 𝐶𝐶 � 𝜉𝜉𝑖𝑖
𝑤𝑤,𝑏𝑏,𝜉𝜉 2 (1)
𝑖𝑖=1
𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑡𝑡𝑡𝑡 𝑦𝑦𝑖𝑖 (𝑤𝑤 𝑇𝑇 𝜙𝜙(𝑥𝑥𝑖𝑖 ) + 𝑏𝑏) ≥ 1 − 𝜉𝜉𝑖𝑖 , 𝜉𝜉𝑖𝑖 ≥ 0, 𝑖𝑖 = 1, … . , 𝑙𝑙
where 𝑤𝑤 is weight vector, 𝑏𝑏 is bias, 𝜉𝜉𝑖𝑖 is slack variables, 𝜙𝜙(𝑥𝑥𝑖𝑖 ) maps 𝑥𝑥𝑖𝑖 into higher dimensional space,
C > 0 is the regularization parameter and the decision function is shown in (2).
𝑙𝑙
𝑇𝑇
𝑠𝑠𝑠𝑠𝑠𝑠(𝑤𝑤 𝜙𝜙(𝑥𝑥) + 𝑏𝑏) = 𝑠𝑠𝑠𝑠𝑠𝑠 �� 𝑦𝑦𝑖𝑖 𝛼𝛼𝑖𝑖 𝐾𝐾(𝑥𝑥𝑖𝑖 , 𝑥𝑥) + 𝑏𝑏� (2)
𝑖𝑖=1

where 𝐾𝐾�𝑥𝑥𝑖𝑖 , 𝑥𝑥𝑗𝑗 � is the kernel function. After training process, parameter 𝑦𝑦𝑖𝑖 𝛼𝛼𝑖𝑖 ∀𝑖𝑖, 𝑏𝑏, label names,
support vectors, and kernel parameter saved as output model from training SVM.
In classification, voting strategy is performed for each data x which will be designated to be in a
class with the maximum votes [10]. Optimal parameter is selected using k-fold cross validation which
is a method to do cross validation by dividing training data into k set which has (k-1) as training data
and the rest will be the test data. After training process we will get variable w, x, and b for each class,
then the classification process can be done with these steps:
1. Calculate kernel.
2. Calculate decision function with (2).
3. Repeat step 1 and 2 for other classes.
4. Determine the class by function which gives the most maximum votes (the member of class is
determinded by voting).

IV. Results and Discussion

The GPU accelerated number plate localization in crowded situation method is tested using 15
images of vehicles in traffic or parking area. The training data consists of 500 positive images and
1570 negative images. Positive training data are enriched with six orientations, 5º, -5º, 10º, -10º, 15º,
and -15º and negative training data are enriched with three orientations, flip horizontal, flip vertical
and flip both vertical and horizontal. The total training data will contain 3500 positive images and
6280 negative images.
A. Vertical Edge Based Localization
Number plate has strong vertical edge coming from the number printed on the plate. However, in
a crowded situation, vertical edge density cannot become the primary detector because many vertical
edges will be found and the localization method will fail to locate number plate accurately. Therefore,
vertical edge density is only used to localize region of number plate by removing most of the
background that does not have enough density of vertical edges.
Vertical edge, edge density, and localization of number plate are shown in Fig. 2, Fig. 3, and Fig.
4 respectively with two samples (a) and (b). Weak to strong vertical edge density in Fig. 2 is visualized
by blue to yellow color in Fig. 3. Number plate region has strong edge as it is represented by yellow
color. Although many strong edges are present, this step is still important because it can decrease the

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false positive coming from classification by HOG+SVM as shown in Fig. 4. Blue rectangles marker
in Fig. 4 indicate the predicted number plate by HOG+SVM and the red marker is the final marker
obtained from the combination of vertical edge density and HOG+SVM.
GPU implementation of vertical edge based localization uses two filters, Sobel filter and box filter.
Sobel filter with 3x3 kernel is used to extract vertical edge on image. Strong vertical edges are selected
from vertical edges that have value greater than 128. A normalized box filter with 32x24 kernel is
used to calculate density of vertical edge. Because of the large kernel, box filter is applied with
separate kernel method to decrease the processing time in GPU. The high density of vertical edges is
selected using threshold obtained from the sum of vertical edge values divided by total amount of non-
zero values in the edge image.

(a) (b) (a) (b) (a) (b)

Fig. 2 Vertical edge Fig. 3 Edge density Fig. 4 Number plate localization

B. Number Plate Localization

HOG is extracted from the candidate number plate region using 64x24 detection window, 8x8 cell
size, 16x16 block size, and 9 bin size with gamma correction. The detection window is coming from
the fact that traffic image is usually taken from far distance. The minimum size of detection window
is 64x24 that satisfies 3:1 ratio of number plate size, can be divided by HOG’s cell size and it is greater
than HOG’s block size. Number plate and its HOG descriptor visualization are shown in Fig. 5 and
Fig. 6 respectively with two samples (a) and (b). Total 504 features are extracted from number plate
image. A linear support vector machine is used to classify number plate with parameters C is 2.5,
termination criteria is 105 , and epsilon is 9.99𝐸𝐸 −7 . SVM is trained with 10-cross fold validation to
obtain optimal parameter for number plate classification.

(a) (b) (a) (b)

Fig. 5 Number plate Fig. 6 HOG Descriptor visualization of number plate
To overcome the various problems of number plate localization, the proposed method offers some
solutions to minimize the problems. Multi-scale windows are applied from the original detection
window to deal with various size of number plate. Although the method is implemented in GPU, there
is still limit on how many detection windows can be applied to achieve real time detection with the
given image size. When using our laptop with the given specification and the described test data the
limit is 1.05. For illumination problem, HOG has its own mechanism to deal with illumination as
mentioned in [7]. SVM is used to deal with tilted number plate and part of the number plate that is
covered by another objects by including some samples of tilted number plate and partially covered
number plate as training data. To increase the accuracy of number plate localization, number plate
region must pass a hit threshold. The hit threshold means that an object must be detected more than
twice by the multi-window detector to be considered as license plate.
Localization result is marked by red rectangles as shown in Fig. 7 with four samples (a), (b), (c)
and (d). The method can detect number plates with various size, tilted number plates, and partially
covered number plates as shown in Fig. 7. The blue marker indicates region predicted by HOG+SVM
that does not pass the VED. Many false detections are removed by VED method (a, b, c, d) but in
sample (d), the VED method removed actual number plate because of the lighting on the plate. The
failure detection is mainly caused by non-standard number plate (b) and more than half of the plate
covered by another object (d). Custom number plate is very common in many countries and it is quite
hard to include its model in the training data because of the large variety of possibilities. The false

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positive is mainly caused by background texture that is similar to number plate such as background
that contains letters (a).

(a) (b)

(c) (d)
Fig. 7 Detected number plate in test image (red rectangle)

The test data is 15 images of traffic or parking area. A set of positive test data and negative test
data is extracted from 15 test images and classified using HOG+SVM to obtain the score and label
used for evaluation. Because of the imbalance between positive and negative data test, AUC (Area
Under Curve) and BAC (Balance Accuracy) are used for evaluation [11]. The ROC (Receiver
Operating Characteristic) curve of proposed method is shown in Fig. 8. Performance of the method is
shown in Table I and Table II where TP is true positive, FN is false negative, TN is true negative, and
FP is false positive. Sensitivity is TP / (TP + FN), specificity is TN / (TN + FP), BAC is (sensitivity
+ specificity) / 2, and AUC is obtained from ROC. True Positive Rate (sensitivity) and False Positive
Rate (1 – specificity) are used to draw the ROC curve.
ROC is calculated from classification scores, actual labels, and predicted labels of all test data. By
changing the threshold with selected classification score, the predicted labels and actual labels are
compared to calculate the TPR and FPR values. This step is repeated for every classification score of
all test data. The AUC from ROC curve in Fig. 5 is 0.9883 and BAC is 0.9362. The result of evaluation
is good because all score are close to 1 which means that the method predicted right number plate with
a high chance.

Table I. Test data and evaluation result

Test Positive Negative
TP FN TN FP
Data Data Data
15 76 2639 67 9 2615 24

Table II. Performance evaluation of proposed

NPL method
Sensitivity Specificity BAC AUC
0.8815 0.9909 0.9362 0.9883

Fig. 8 ROC curve of proposed number plate localization method

C. Processing Time
GPU is used to accelerate the proposed NPL method in order to achieve real time detection. The
processing time is tested 10 times to ensure the system is stable when processing the data. Processing
time is plotted according to each test image resolution with blue line for CPU and red line for GPU.
The average processing time of vertical edge based localization using Sobel and box filters is shown
in Fig. 9(a). Average processing time of HOG+SVM with multi detection window is shown in Fig.

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9(b). The average total processing time of the proposed method is shown in Fig. 9(c). As shown in
Fig. 9(c), GPU implementation of the proposed method is much faster (approximately 4x) than CPU
implementation. The GPU performance is also more stable with increasing image resolution. On the
largest test image with resolution 904 x 496, the total processing time of proposed NPL method is
under 50ms or above 20 fps which can be considered as real time while total processing time of CPU
is only 6 fps.

(a) vertical edge based localization (b) HOG+SVM (c) The proposed NPL method

Fig. 9. Processing time comparison

V. Conclusions
The GPU accelerated number plate localization in crowded situation is proposed to localize
number plate in a crowded situation. In a crowded situation, number plate can vary in size,
illumination, orientation, and is often covered by other objects. The proposed method is designed to
overcome these problems by using combination of vertical edge density and HOG (Histogram of
Oriented Gradients) and SVM (Support Vector Machine) to localize the number plate. Vertical edge
density alone cannot be used as primary detector because many edges would be found in a crowded
situation. Therefore, combination of HOG+SVM is used to accurately localize the number plate from
candidate number plate region extracted using vertical edge density method. The proposed method is
evaluated using AUC (Area Under Curve) from ROC (Receiver Operating Characteristic) curve and
BAC (Balance Accuracy). The evaluation shows good result with high AUC and BAC values. During
future work, the proposed method can be further developed to localize custom number plate, highly
covered number plate, and become part of the ANPR (Automatic Number Plate Recognition) system.
The GPU performance also can be increased using more efficient algorithm for the filters and
classifier.
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