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Vision-Based Detection, Tracking And Classification Of Vehicles Using Stable Features With Automatic Camera Calibration, Neeraj Kanhere

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A method is presented for segmenting and tracking vehicles on highways using a camera that is relatively low to the ground. At such low angles, 3D perspective effects cause significant appearance changes over time, as well as severe occlusions by vehicles in neighboring lanes. Traditional approaches to occlusion reasoning assume that the vehicles initially appear well-separated in the image, but in our sequences it is not uncommon for vehicles to enter the scene partially occluded and remain so throughout. By utilizing a 3D perspective mapping from the scene to the image, along with a plumb line projection, a subset of …