Title :
Stereovision Based Vehicle Tracking in Urban Traffic Environments
Author :
Danescu, R. ; Nedevschi, S. ; Meinecke, M.M. ; Graf, T.
Author_Institution :
Tech. Univ. of Cluj Napoca, Cluj-Napoca
fDate :
Sept. 30 2007-Oct. 3 2007
Abstract :
This paper presents an algorithm for tracking the cuboids generated from grouping the 3D points obtained through stereovision. The solution described in the paper takes into consideration the particularities of the scenario and of the sensor, and brings considerable improvement in all the phases of tracking: initialization, prediction, measurement and update. The corner of the cuboid becomes the central working concept, thus improving the handling of partially occluded objects, of objects partially out of the field of view, and of objects whose measurement is fragmented by the sensor inaccuracies. After association at corner level, multiple measurements or validated parts of a measurement form a virtual object, the meta measurement, which is used for track update. The size of a vehicle is tracked using a histogram voting method. The resulted algorithm shows robustness and accuracy in the crowded urban scenario.
Keywords :
stereo image processing; traffic engineering computing; cuboid tracking; histogram voting method; meta measurement; stereovision based vehicle tracking; urban traffic environment; Histograms; Intelligent transportation systems; Intelligent vehicles; Kalman filters; Particle measurements; Phase measurement; Robustness; Sensor phenomena and characterization; USA Councils; Voting;
Conference_Titel :
Intelligent Transportation Systems Conference, 2007. ITSC 2007. IEEE
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-1396-6
Electronic_ISBN :
978-1-4244-1396-6
DOI :
10.1109/ITSC.2007.4357685