Model-based object tracking in monocular image sequences of road traffic scenes
International Journal of Computer Vision
Robust multiple car tracking with occlusion reasoning
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
Estimation with Applications to Tracking and Navigation
Estimation with Applications to Tracking and Navigation
ASSET-2: Real-Time Motion Segmentation and Shape Tracking
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Real-time Computer Vision System for Measuring Traffic Parameters
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Fast Vehicle Detection with Probabilistic Feature Grouping and its Application to Vehicle Tracking
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
A Real-Time Vehicle Detection and Tracking System in Outdoor Traffic Scenes
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 2 - Volume 02
Vision-Based Preceding Vehicle Detection and Tracking
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 02
Vehicle Tracking and Distance Estimation Based on Multiple Image Features
CRV '07 Proceedings of the Fourth Canadian Conference on Computer and Robot Vision
Stereo-based Free Space Computation in Complex Traffic Scenarios
SSIAI '08 Proceedings of the 2008 IEEE Southwest Symposium on Image Analysis and Interpretation
A robust approach for ego-motion estimation using a mobile stereo platform
IWCM'04 Proceedings of the 1st international conference on Complex motion
6D-vision: fusion of stereo and motion for robust environment perception
PR'05 Proceedings of the 27th DAGM conference on Pattern Recognition
Fast obstacle detection for urban traffic situations
IEEE Transactions on Intelligent Transportation Systems
Real-time dense stereo for intelligent vehicles
IEEE Transactions on Intelligent Transportation Systems
IEEE Transactions on Intelligent Transportation Systems
Collision Avoidance for Vehicle-Following Systems
IEEE Transactions on Intelligent Transportation Systems
Sensor Fusion for Predicting Vehicles' Path for Collision Avoidance Systems
IEEE Transactions on Intelligent Transportation Systems
IEEE Transactions on Intelligent Transportation Systems
3-D model-based vehicle tracking
IEEE Transactions on Image Processing
IEEE Transactions on Image Processing
A modified model for the Lobula Giant Movement Detector and its FPGA implementation
Computer Vision and Image Understanding
Probabilistic multi-class scene flow segmentation for traffic scenes
Proceedings of the 32nd DAGM conference on Pattern recognition
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A new image-based approach for fast and robust vehicle tracking from a moving platform is presented. Position, orientation, and full motion state, including velocity, acceleration, and yaw rate of a detected vehicle, are estimated from a tracked rigid 3-D point cloud. This point cloud represents a 3-D object model and is computed by analyzing image sequences in both space and time, i.e., by fusion of stereo vision and tracked image features. Starting from an automated initial vehicle hypothesis, tracking is performed by means of an extended Kalman filter. The filter combines the knowledge about the movement of the rigid point cloud's points in the world with the dynamic model of a vehicle. Radar information is used to improve the image-based object detection at far distances. The proposed system is applied to predict the driving path of other traffic participants and currently runs at 25 Hz (640 × 480 images) on our demonstrator vehicle.