Title :
Localization and tracking of same color vehicle under occlusion problem
Author :
Ming Qing ; Van-Dung Hoang ; Kang-Hyun Jo
Author_Institution :
Univ. of Ulsan, Ulsan, South Korea
Abstract :
This paper proposes a vision based multiple vehicle detection and tracking system. Vehicle tail light information is used to localize vehicle potential region, then each candidate is verified by a back propagation neural network (BPNN) trained by Gabor feature set. In the multiple vehicle tracking stage, multiple scale vehicle tracking, same color vehicle occlusion and observation model updating problem are investigated. Mean shift algorithm is main part of tracking sub-system; each detected vehicles are tracked by a mean shift tracker in parallel. Vehicle tail light pairs which are determined in vehicle detection step are used to adjust tracking windows size. Color information is observation model in tracking algorithm, which is insensitive to different color vehicle occlusion problem; mean while, only color information based tracking algorithm can´t deal with same color vehicle occlusion case. To overcome this problem, local edge image projection technique is implemented. In experiments, the result shows the proposed system have good performance in multiple vehicle detection and tracking system in the daytime, the results shows 84% accuracy detection rate, 5254 frames image sequences are texted for multip le vehicle tracking.
Keywords :
Gabor filters; backpropagation; computer graphics; edge detection; image colour analysis; image sequences; object detection; object tracking; vehicles; BPNN; Gabor feature set; back propagation neural network; color information based tracking algorithm; image sequences; local edge image projection technique; mean shift algorithm; mean shift tracker; multiple scale vehicle tracking; multiple vehicle tracking stage; observation model updating problem; occlusion problem; vehicle potential region; vehicle tail light pairs; vision based multiple vehicle detection system; vision based multiple vehicle tracking system; Histograms; Image color analysis; Image edge detection; Radar tracking; Target tracking; Vehicle detection; Vehicles; mean shift; multiple vehicle tracking; same color vehicle occlusion;
Conference_Titel :
Mechatronics (MECATRONICS) , 2012 9th France-Japan & 7th Europe-Asia Congress on and Research and Education in Mechatronics (REM), 2012 13th Int'l Workshop on
Conference_Location :
Paris
Print_ISBN :
978-1-4673-4770-9
Electronic_ISBN :
978-1-4673-4771-6
DOI :
10.1109/MECATRONICS.2012.6451016