Ground plane velocity estimation embedding rectification on a particle filter multi-target tracking

Author

Palaio, Hélio ; Maduro, Cristina ; Batista, Katherine ; Batista, Jorge

Author_Institution

DEEC-FCTUC, Univ. of Coimbra, Coimbra, Portugal

fYear

2009

fDate

12-17 May 2009

Firstpage

825

Lastpage

830

Abstract

This paper presents an integrated solution for vehicle´s velocity estimation and vehicle counting. The proposed restores the scene geometric properties, building a ground plane rectified image. Moreover, multiple vehicles tracking is performed embedding the concept of region covariance descriptors in a particle filter framework. The results show the effectiveness of the approach here proposed in very clutter scenes.

Keywords

geometry; image restoration; image sequences; motion estimation; particle filtering (numerical methods); road traffic; road vehicles; target tracking; traffic engineering computing; video surveillance; clutter scene; ground plane rectified image; ground-plane vehicle velocity estimation; multiple vehicle tracking; particle filter multitarget tracking; region covariance descriptor; road traffic surveillance; road vehicle counting; scene geometric property restoration; video sequence; Covariance matrix; Image edge detection; Image restoration; Layout; Particle filters; Particle tracking; Road vehicles; Robotics and automation; Surveillance; Video sequences;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152610

Filename

5152610