Real-Time Incremental Segmentation and Tracking of Vehicles at Low Camera Angles Using Stable Features

@article{Kanhere2008RealTimeIS,
  title={Real-Time Incremental Segmentation and Tracking of Vehicles at Low Camera Angles Using Stable Features},
  author={Neeraj K. Kanhere and Stanley T. Birchfield},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  year={2008},
  volume={9},
  pages={148-160}
}
We present a method for segmenting and tracking vehicles on highways using a camera that is relatively low to the ground. At such low angles, 3-D perspective effects cause significant changes in appearance over time, as well as severe occlusions by vehicles in neighboring lanes. Traditional approaches to occlusion reasoning assume that the vehicles initially appear well separated in the image; however, in our sequences, it is not uncommon for vehicles to enter the scene partially occluded and… CONTINUE READING
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