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

Authors:
Hélio Palaio;Cristina Maduro;Katherine Batista;Jorge Batista
Affiliations:
ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal;ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal;ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal;ISR-Institute of Systems and Robotics, DEEC-FCTUC, University of Coimbra, Portugal
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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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.