Vehicle detection and tracking using homography-based plane rectification and particle filtering

Arróspide Laborda, Jon and Salgado Álvarez de Sotomayor, Luis and Nieto Doncel, Marcos (2010). Vehicle detection and tracking using homography-based plane rectification and particle filtering. In: "IEEE Intelligent Vehicles Symposium, IV 2010", 21/06/2010 - 24/06/2010, San Diego, California, EEUU. ISBN 978-1-4244-7866-8.

Description

Title: Vehicle detection and tracking using homography-based plane rectification and particle filtering
Author/s:
  • Arróspide Laborda, Jon
  • Salgado Álvarez de Sotomayor, Luis
  • Nieto Doncel, Marcos
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE Intelligent Vehicles Symposium, IV 2010
Event Dates: 21/06/2010 - 24/06/2010
Event Location: San Diego, California, EEUU
Title of Book: Proceedings of the IEEE Intelligent Vehicles Symposium, IV 2010
Date: August 2010
ISBN: 978-1-4244-7866-8
Subjects:
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Señales, Sistemas y Radiocomunicaciones
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents a full system for vehicle detection and tracking in non-stationary settings based on computer vision. The method proposed for vehicle detection exploits the geometrical relations between the elements in the scene so that moving objects (i.e., vehicles) can be detected by analyzing motion parallax. Namely, the homography of the road plane between successive images is computed. Most remarkably, a novel probabilistic framework based on Kalman filtering is presented for reliable and accurate homography estimation. The estimated homography is used for image alignment, which in turn allows to detect the moving vehicles in the image. Tracking of vehicles is performed on the basis of a multidimensional particle filter, which also manages the exit and entries of objects. The filter involves a mixture likelihood model that allows a better adaptation of the particles to the observed measurements. The system is specially designed for highway environments, where it has been proven to yield excellent results.

More information

Item ID: 9222
DC Identifier: http://oa.upm.es/9222/
OAI Identifier: oai:oa.upm.es:9222
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5547980&tag=1
Deposited by: Memoria Investigacion
Deposited on: 18 Oct 2011 07:52
Last Modified: 20 Apr 2016 17:43
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