Systems and methods for detecting traffic signs

Systems and methods are provided for detecting traffic signs. In one implementation, a traffic sign detection system for a vehicle include at least one image capture device configured to acquire at least one image of a scene including a traffic sign ahead of the vehicle. The traffic sign detection system also includes a data interface and at least one processing device programmed to receive the at least one image via the data interface, transform the at least one image, sample the transformed at least one image to generate a plurality of images having different sizes, convolve each of the plurality of images with a template image, compare each pixel value of each convolved image to a predetermined threshold, and select local maxima of pixel values within local regions of each convolved image as attention candidates, the local maxima being greater than the predetermined threshold.