Model-Based Object Tracking in Monocular Image Sequences of Road Traffic Scenes

D. Koller, K. Daniilidis, and H.-H. Nagel

International Journal of Computer Vision 10:3 (1993) 257-281.


Moving vehicles are detected and tracked automatically in monocular image sequences from road traffic scenes recorded by a stationary camera. In order to exploit the a priori knowledge about shape and motion of vehicles in traffic scenes, a parameterized vehicle model is used for an intraframe matching process and a recursive estimator based on a motion model is used for motion estimation. An interpretation cycle supports the intraframe matching process with a state MAP-update step. Initial model hypotheses are generated using an image segmentation component which clusters coherently moving image features into candidate representations of images of a moving vehicle. The inclusion of an illumination model allows to take shadow edges of the vehicle into account during the matching process. Only such an elaborate combination of various techniques has enabled us to track vehicles under complex illumination conditions and over long (over 400 frames) monocular image sequences. Results on various real world road traffic scenes are presented and open problems as well as future work are outlined.

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See also the page on model-based tracking .

Last modified on Tuesday, November 20, 1996, Dieter Koller (