A new approach for real time moving vehicle detection

This paper proposes a method for detecting and tracking a moving vehicle on the asphalt road based on vision. The distance between the robot and a moving vehicle, velocity, and its width are estimated during the tracking process. The authors show a real time moving vehicle detection method which is enough for detecting a moving vehicle for any weather conditions including fine, partly cloudy and cloudy. Furthermore, the method is applicable for the road covered partly or completely by shadows. Stationary vehicle is also distinguished from moving one by evaluating its velocity. The proposed method detects a vehicle from a distance of 25 m with a domestic video camera and extracts its front shape in real time