Wy. Kan et al., MODEL-BASED VEHICLE TRACKING FROM IMAGE SEQUENCES WITH AN APPLICATIONTO ROAD SURVEILLANCE, Optical engineering, 35(6), 1996, pp. 1723-1729
A model-based approach to vehicle tracking is proposed and applied to
a highway traffic surveillance problem, which is motivated by current
research in intelligent transportation systems. Systems for traffic ma
nagement and traveler information services require accurate and wide-a
rea estimates of vehicle velocity and traffic spatial and temporal den
sities. A detection and tracking algorithm is developed that achieves
good performance with complexity low enough for real-time implementati
on using inexpensive microprocessors. Detection thresholds are compute
d based on a statistical model for vehicle and background, and the the
oretical detector performance is derived. The tracking algorithm filte
rs position estimates from the detection algorithm using a simple vehi
cle dynamic model and the Kalman filter. Data association is accomplis
hed with a nearest neighbor filter coupled with a lane-change handling
logic. (C) 1996 Society of Photo-Optical Instrumentation Engineers.