1. A traffic sign detection system for a vehicle, comprising: at least one image capture device configured to acquire at least one image of an environment including a traffic sign ahead of the vehicle; 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 the plurality of images with a template image; compare one or more pixel values of the convolved images to a predetermined threshold; and select local maxima of pixel values within local regions of the convolved images as attention candidates, the local maxima being greater than the predetermined threshold.