Symmetry-Aided Particle Filter for Vehicle Tracking

Symmetry is an important characteristic of vehicle and has been used for detection tasks by many researchers. However, existing results of vehicle tracking seldom used this feature. In this paper, we combine the color histogram and the symmetry measurements to design a hierarchical-like particle filter for vehicle tracking. Experimental results show that the use of symmetry information will obtain better tracking performance than the conventional color histogram-based particle filters and effectively avoid some "hijack" problems.