Vehicle localisation and discrimination in outdoor traffic scenes

Abstract

This paper concerns model-based vision for road traffic scene analysis. A traffic vision system has recently been developed at The University of Reading. The three main modules of the system are Movement Detection, Vehicle Localisation and Discrimination, and Vehicle Tracking. This paper outlines our work on the localisation and discrimination module. Emphasis is on recovering 3D poses of road vehicles in given image regions. Two classes of algorithms are described, one based on symbolic image features (line segments), and the other simply on image intensity gradients. A priori knowledge about traffic scenes and vehicles is exploited to improve the performance and efficiency of the algorithms. The algorithms are tested extensively with routine outdoor traffic images, and examples are included to demonstrate their principles.KeywordsRoad VehicleVehicle TrackingVehicle LocalisationOrientation HistogramOrientation RecoveryThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.