Multi-view 3D vehicle tracking with a constrained filter

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

We present a vehicle tracker for automatic data collection at intersections and freeways. Key features of our approach are the ability to measure the real-world state of tracked vehicles, to hand off targets between cameras, and to track simultaneously from multiple views for improved handling of occlusions and scene clutter. Further, the proposed measurement model supports both full and partial measurements from any number of views, which are seamlessly fused by the estimation procedure. State constraints are incorporated in the tracking method, and issues caused by stop-and-go traffic and turning vehicles are addressed. The use of constrained estimation, the support of partial measurements, and the multiview capability represents a significant improvement of our past efforts in automating the tracking of vehicles in challenging situations.

Original languageEnglish (US)
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages2277-2282
Number of pages6
DOIs
StatePublished - Sep 18 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

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