Combining shadow detection and simulation for estimation of vehicle size and position

Authors:
Björn Johansson;Johan Wiklund;Per-Erik Forssén;Gösta Granlund
Affiliations:
Computer Vision Laboratory, Department of Electrical Engineering, Linköping University, SE-583 32 Linköping, Sweden;Computer Vision Laboratory, Department of Electrical Engineering, Linköping University, SE-583 32 Linköping, Sweden;Computer Vision Laboratory, Department of Electrical Engineering, Linköping University, SE-583 32 Linköping, Sweden;Computer Vision Laboratory, Department of Electrical Engineering, Linköping University, SE-583 32 Linköping, Sweden
Venue:
Pattern Recognition Letters
Year:
2009

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Abstract

This paper presents a method that combines shadow detection and a 3D box model including shadow simulation, for estimation of size and position of vehicles. We define a similarity measure between a simulated image of a 3D box, including the box shadow, and a captured image that is classified into background/foreground/shadow. The similarity measure is used in an optimization procedure to find the optimal box state. It is shown in a number of experiments and examples how the combination shadow detection/simulation improves the estimation compared to just using detection or simulation, especially when the shadow detection or the simulation is inaccurate. We also describe a tracking system that utilizes the estimated 3D boxes, including highlight detection, spatial window instead of a time based window for predicting heading, and refined box size estimates by weighting accumulated estimates depending on view. Finally, we show example results.