用合成数据训练交通标志识别模型，跨域表现更优。

A major challenges of deep learning (DL) is the necessity to collect huge amounts of training data. Often, the lack of a sufficiently large dataset discourages the use of DL in certain applications. Typically, acquiring the required amounts of data costs considerable time, material and effort. To mitigate this problem, the use of synthetic images combined with real data is a popular approach, widely adopted in the scientific community to effectively train various detectors. In this study, we examined the potential of synthetic data-based training in the field of intelligent transportation systems. Our focus is on camera-based traffic sign recognition applications for advanced driver assistance systems and autonomous driving. The proposed augmentation pipeline of synthetic datasets includes novel augmentation processes such as structured shadows and gaussian specular highlights. A well-known DL model was trained with different datasets to compare the performance of synthetic and real image-based trained models. Additionally, a new, detailed method to objectively compare these models is proposed. Synthetic images are generated using a semi-supervised errors-guide method which is also described. Our experiments showed that a synthetic image-based approach outperforms in most cases real image-based training when applied to cross-domain test datasets (+10% precision for GTSRB dataset) and consequently, the generalization of the model is improved decreasing the cost of acquiring images.