Hardware-software implementation of vehicle detection and counting using virtual detection lines

In this paper a hardware-software system for vehicle detection and counting at intersections is presented. It has been implemented and evaluated on the heterogeneous Zynq platform. The vehicle detection is based on the concept of virtual detection lines (VDL). Differences in colour, horizontal edges and Census transform results between areas around the VDL for two consecutive frames are used to disclosure particular vehicles. This part of the system is designed in hardware description language and implemented in the reconfigurable resources of the Zynq platform. Information about the vehicle presence, along with the time-spatial image obtained at the VDL are transmitted and processed on the ARM core integrated in the Zynq device. This allows to perform further analysis and eliminate false or multiple detections. The solution has been evaluated on several video sequences recorded in various conditions: sunny day (the occurrence of deep shadows), cloudy day, rain and night-time. The system could be an important element of an intelligent transportation system (ITS) i.e. applied in a smart camera.