On-Road Multivehicle Tracking Using Deformable Object Model and Particle Filter With Improved Likelihood Estimation

This paper proposes a novel method for multivehicle detection and tracking using a vehicle-mounted monocular camera. In the proposed method, the features of vehicles are learned as a deformable object model through the combination of a latent support vector machine (LSVM) and histograms of oriented gradients (HOGs). The detection algorithm combines both global and local features of the vehicle as a deformable object model. Detected vehicles are tracked through a particle filter, which estimates the particles´ likelihood by using a detection scores map and template compatibility for both root and parts of the vehicle while considering the deformation cost caused by the movement of vehicle parts. Tracking likelihoods are iteratively used as a priori probability to generate vehicle hypothesis regions and update the detection threshold to reduce false negatives of the algorithm presented before. Extensive experiments in urban scenarios showed that the proposed method can achieve an average vehicle detection rate of 97% and an average vehicle-tracking rate of 86% with a false positive rate of less than 0.26%.