Tracking and Reconstruction of Vehicles for Accurate Position Estimation

Hanna Källén, Håkan Ardö, Olof Enqvist

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i 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.
Titel på värdpublikationApplications in Computer Vision (WACV), 2011 Workshop on
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Antal sidor8
ISBN (tryckt)978-1-4244-9496-5 (print), 1-4244-9496-6 (print)
StatusPublished - 2011
Evenemang2011 IEEE Workshop on Applications in Computer Vision (WACV 2011) - Hawaii, USA
Varaktighet: 2011 jan. 52011 jan. 7


Konferens2011 IEEE Workshop on Applications in Computer Vision (WACV 2011)

Ämnesklassifikation (UKÄ)

  • Datorseende och robotik (autonoma system)
  • Matematik


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