Urban Traffic Surveillance (UTS): A fully probabilistic 3D tracking approach based on 2D detections

  title={Urban Traffic Surveillance (UTS): A fully probabilistic 3D tracking approach based on 2D detections},
  author={Henry Bradler and Adrian Kretz and Rudolf Mester},
  journal={2021 IEEE Intelligent Vehicles Symposium (IV)},
Urban Traffic Surveillance (UTS) is a surveillance system based on a monocular and calibrated video camera that detects vehicles in an urban traffic scenario with dense traffic on multiple lanes and vehicles performing sharp turning maneuvers. UTS then tracks the vehicles using a 3D bounding box representation and a physically reasonable 3D motion model relying on an unscented Kalman filter based approach. Since UTS recovers positions, shape and motion information in a three-dimensional world… Expand

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