Quantitative comparison between trajectory estimates obtained from a binocular camera setup within a moving road vehicle and from the outside by a stationary monocular camera

The image sequence evaluation system Xtrack detects, initializes, and track s images of moving road vehicles in videosequences recorded at innercity tr affic scenes by a stationary camera. An additional model-based vision syste m Ximage tracks road models in video sequences recorded from within a drivi ng vehicle. Both systems produce the same kind of results (vehicle trajecto ries). We have established a link between Xtrack and Ximage which enables u s to quantitatively compare trajectories of the same vehicle obtained indep endently by both systems for the same observed traffic situation. (C) 2000 Elsevier Science B.V. All rights reserved.