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Memorias de investigación
Ponencias en congresos:
Vehicle detection and tracking using homography-based plane rectification and particle filtering
Año:2010
Áreas de investigación
  • Procesado y análisis de la señal
Datos
Descripción
This paper presents a full system for vehicle detection and tracking in non-stationary settings based on computer vision. The method proposed for vehicle detection exploits the geometrical relations between the elements in the scene so that moving objects (i.e., vehicles) can be detected by analyzing motion parallax. Namely, the homography of the road plane between successive images is computed. Most remarkably, a novel probabilistic framework based on Kalman filtering is presented for reliable and accurate homography estimation. The estimated homography is used for image alignment, which in turn allows to detect the moving vehicles in the image. Tracking of vehicles is performed on the basis of a multidimensional particle filter, which also manages the exit and entries of objects. The filter involves a mixture likelihood model that allows a better adaptation of the particles to the observed measurements. The system is specially designed for highway environments, where it has been proven to yield excellent results.
Internacional
Si
Nombre congreso
IEEE Intelligent Vehicle Symposyum
Tipo de participación
960
Lugar del congreso
La Jolla, San Diego, California
Revisores
Si
ISBN o ISSN
1931-0587
DOI
10.1109/IVS.2010.5547980
Fecha inicio congreso
21/06/2010
Fecha fin congreso
24/06/2010
Desde la página
150
Hasta la página
155
Título de las actas
Vehicle detection and tracking using homography-based plane rectification and particle filtering
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Jon Arróspide Laborda (UPM)
  • Autor: Marcos Nieto Doncel (Vicomtech-IK4, Research Alliance)
  • Autor: Luis Salgado Alvarez de Sotomayor (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Grupo de Tratamiento de Imágenes (GTI)
  • Departamento: Señales, Sistemas y Radiocomunicaciones
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