Tracking and Reconstruction of Vehicles for Accurate Position Estimation

Hanna Källén, Håkan Ardö, Olof Enqvist

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

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To improve traffic safety it is important to evaluate the safety of roads and intersections. Today this requires a large amount of manual labor so an automated system using cameras would be very beneficial. We focus on the geometric part of the problem, that is, how to get accurate three-dimensional data from images of a road or an intersection. This is essential in order to correctly identify different events and incidents, for example to estimate when two cars gets dangerously close to each other.

The proposed method uses a standard tracker to find corresponding points between frames. Then a RANSAC-type algorithm detects points that are likely to belong to the same vehicle. To fully exploit the fact that vehicles rotate and translate only in the ground plane, the structure from motion is estimated using an optimization approach based on the L-infinity-norm. The same approach also allows for easy setup of the system by estimating the camera orientation relative to the ground plane. Promising results for real-world data are presented.
Original languageEnglish
Title of host publicationApplications in Computer Vision (WACV), 2011 Workshop on
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Print)978-1-4244-9496-5 (print), 1-4244-9496-6 (print)
Publication statusPublished - 2011
Event2011 IEEE Workshop on Applications in Computer Vision (WACV 2011) - Hawaii, United States
Duration: 2011 Jan 52011 Jan 7


Conference2011 IEEE Workshop on Applications in Computer Vision (WACV 2011)
Country/TerritoryUnited States

Subject classification (UKÄ)

  • Computer Vision and Robotics (Autonomous Systems)
  • Mathematics

Free keywords

  • tracking
  • automated traffic surveillance
  • 3D reconstruction


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