基于概率算法自适应更新背景的运动车辆检测

交通流量检测是智能交通系统中的一个重要研究方向和热点问题,基于视频的车辆检测是交通流量采集分析的核心技术,它为交通流量参数的实时获取提供了可能。为实现在复杂交通视频场景中实时准确检测各类的运动车辆,在研究传统背景差分算法的缺点的工作基础上,提出一个自适应的贝叶斯概率背景检测算法,进而完成了较准确的运动车辆分类检测。实验结果表明该方法具有高效实时的特点,能够较准确地实现复杂交通路面的背景提取和运动车辆的检测,具有良好的鲁棒性。     

Faster CNN-based vehicle detection and counting strategy for fixed camera scenes

Automatic detection and counting of vehicles in a video is a challenging task and has become a key application area of traffic monitoring and management. In this paper, an efficient real-time approach for the detection and counting of moving vehicles is presented based on YOLOv2 and features point motion analysis. The work is based on synchronous vehicle features detection and tracking to achieve accurate counting results. The proposed strategy works in two phases; the first one is vehicle detection and the second is the counting of moving vehicles. Different convolutional neural networks including pixel by pixel classification networks and regression networks are investigated to improve the detection and counting decisions. For initial object detection, we have utilized state-of-the-art faster deep learning object detection algorithm YOLOv2 before refining them using K-means clustering and KLT tracker. Then an efficient approach is introduced using temporal information of the detection and tracking feature points between the framesets to assign each vehicle label with their corresponding trajectories and truly counted it. Experimental results on twelve challenging videos have shown that the proposed scheme generally outperforms state-of-the-art strategies. Moreover, the proposed approach using YOLOv2 increases the average time performance for the twelve tested sequences by 93.4% and 98.9% from 1.24 frames per second achieved using Faster Region-based Convolutional Neural Network (F R-CNN ) and 0.19 frames per second achieved using the background subtraction based CNN approach (BS-CNN ), respectively to 18.7 frames per second.

     

Real-time multiple vehicle detection and tracking from a moving vehicle

Abstract. A real-time vision system has been developed that analyzes color videos taken from a forward-looking video camera in a car driving on a highway. The system uses a combination of color, edge, and motion information to recognize and track the road boundaries, lane markings and other vehicles on the road. Cars are recognized by matching templates that are cropped from the input data online and by detecting highway scene features and evaluating how they relate to each other. Cars are also detected by temporal differencing and by tracking motion parameters that are typical for cars. The system recognizes and tracks road boundaries and lane markings using a recursive least-squares filter. Experimental results demonstrate robust, real-time car detection and tracking over thousands of image frames. The data includes video taken under difficult visibility conditions. Received: 1 September 1998 / Accepted: 22 February 2000     

基于高速公路场景的车辆目标跟踪

车辆目标检测与跟踪是高速公路视频监控系统实时监控获取交通参数的关键步骤.本文提出了一种面向高速公路场景的目标轨迹时序信息结合核相关滤波KCF算法的车辆目标跟踪方法,实现了车辆目标的高精度持续跟踪.该方法首先采用基于深度学习的单目标检测SSD算法,通过建立车辆数据集,实现了适用于高速公路场景的车辆目标的分类与检测.然后,基于目标轨迹时序信息实现目标车辆与轨迹的匹配,并且采用KCF跟踪算法对丢失目标进行预测重定位,从而实现车辆目标轨迹的持续跟踪.实验表明,该跟踪方法精度高,且适应多种不同场景,具有较高的应用价值.     

基于视频的多目标车辆跟踪及轨迹优化

为了获取交通视频中车辆的运动轨迹,提供道路动态交通信息,提出一种基于Yolo3目标检测和KCF目标预测相结合,关联历史轨迹预测结果和检测结果的长时间多目标车辆跟踪算法;对采用机器视觉获取的车辆轨迹非平滑现象,提出通过Savitzky-Golay滤波器对原始的车辆轨迹进行平滑优化。对比测试场景中车辆轨迹优化前后,优化后的轨迹在保留原有车辆运动特征的前提下,改善了轨迹平滑性,提供的动态交通信息更能反映车辆真实运动状况。     

基于Edge Boxes的大型车辆车标检测与识别

传统车标检测与识别算法难以检测大型车辆车标,且速度较慢。提出了一种基于Edge Boxes的大型车辆车标检测与识别方法。Edge Boxes算法是一种成熟的图像分割算法,能够快速且有效地检测物体位置,满足大型车辆车标检测与识别问题的准确性及实时性的需求。该方法首先根据车标在车辆中的空间位置关系初选车标候选区,然后利用Edge Boxes算法进行目标提取,进而将提取得到的目标送入利用线性约束编码构建的车标检测分类器和车标识别分类器进行训练与识别,得到车标检测与识别结果。对不同卡口的不同天气和光照条件下采集的4 480张图像（含50类大型车辆）进行实验,实验结果表明,在检测与识别性能以及时间消耗方面均优于传统方法,具有良好的实用前景。     

Representation of occurrences for road vehicle traffic

Our 3D-model-based Computer Vision subsystem extracts vehicle trajectories from monocular digitized videos recording road vehicles in inner-city traffic. Steps are documented which import these quantitative geometrical results into a conceptual representation based on a Fuzzy Metric-Temporal Horn Logic (FMTHL, see [K.H. Schäfer, Unscharfe zeitlogische Modellierung von Situationen und Handlungen in Bildfolgenauswertung und Robotik, Dissertation, 1996]). The facts created by this import step can be understood as verb phrases which describe elementary actions of vehicles in image sequences of road traffic scenes. The current contribution suggests a complete conceptual representation of elementary vehicle actions and reports results obtained by an implementation of this approach from real-world traffic videos.     

Moving vehicle detection,tracking and traffic parameter estimation from a satellite video: a perspective on a smarter city

ABSTRACT

Satellite remote sensing is undergoing a revolution in terms of sensors and temporal coverage. The possibility of acquiring earth’s surface video from space provides an opportunity to investigate broader applications of remote sensing. High-resolution spaceborne videos can become a vital factor in earth observation. Temporally continuous tracking of moving objects, i.e. vehicles, vessels, or even military equipment on Earth’s surface demands high spatial resolution satellite videos. Detecting moving vehicles in the urban areas from space video can lead governments to a new era of traffic monitoring. Satellite videos will find many applications in the field of traffic monitoring. In this article, first, moving vehicles are detected using background subtraction with 94.7% accuracy. Afterwards, vehicles’ trajectories, average velocities, dynamic velocities, and space-time diagram are estimated and trajectories are classified based on velocities. Finally, the total frame traffic density is computed.     

DAGL-Faster: Domain adaptive faster r-cnn for vehicle object detection in rainy and foggy weather conditions

Convolutional neural networks (CNNs) have made remarkable progress in detecting vehicle objects in normal weather conditions. However, the performance of these networks deteriorates when faced with rain and fog, as these conditions degrade image quality and cause blurring. The network models trained on clear images perform poorly on rainy and foggy images due to the differences in distribution between normal weather and adverse weather conditions, leading to domain bias. To address this challenge, we present a novel algorithm called DAGL-Faster (Domain Adaptive Global-Local Alignment Faster RCNN) , which enables domain-adaptive vehicle object detection specifically for rainy and foggy weather. DAGL-Faster extends the Faster RCNN framework by incorporating three domain classifiers. These classifiers aid the network in extracting features that are invariant to the domain differences between the source domain (normal weather) and the target domains (rain or fog). The algorithm tackles the domain dissimilarities from three perspectives: local image-level, global image-level, and instance-level. Additionally, it introduces consistency regularization to facilitate simultaneous alignment at the image-level and instance-level, optimizing the overall alignment effect. Through extensive experiments, we demonstrate the efficacy of DAGL-Faster on two benchmark datasets: Foggy Cityscapes and Rain Vehicle Color-24. The algorithm achieves an impressive mean average precision (mAP) of up to 36.7% on the Foggy Cityscapes dataset and 49.79% on the Rain Vehicle Color-24 dataset. Moreover, DAGL-Faster demonstrates superior computational efficiency, with a processing time of 1.9 seconds per image using a single GTX 1080 Ti GPU. These results surpass state-of-the-art algorithms for popular domain adaptive object detection methods.     

半监督SVM分类算法的交通视频车辆检测方法

针对交通场景运动车辆检测中车辆数目统计准确率不高、自适应性不强等问题,提出了一种基于半监督支持向量机(SVM)分类算法的交通视频车辆检测方法。利用人工标记的少量样本,分别训练2个基于方向梯度直方图(HOG)特征与基于局部二值模式(LBP)特征的不同核函数的SVM分类器;结合半监督算法的思想,构建SVM的半监督分类方法(SEMI-SVM),标记未知样本并加入到原样本库中,该方法支持样本库动态更新,避免了繁重的人工标记样本的工作,提高了自适应性;最后,通过三帧差分法提取运动区域,加载分类器在该区域进行多尺度检测,标记检测出来的运动车辆,统计车辆数目。实验结果表明:该方法在具有一定的自适应性的同时,有较高的车辆检测准确率,即使在复杂交通情况下,对运动车辆依然有很好的检测效果。     

基于稀疏帧检测的交通目标跟踪

为了获取高速公路交通视频中目标车辆的行驶轨迹,提出一种基于视频的多目标车辆跟踪及实时轨迹分布算法,为交通管理系统和交通决策提供目标车辆交通信息.首先,使用YOLOv4算法检测目标车辆位置及置信度.其次,在不同场景条件下,使用提出的基于稀疏帧检测的跟踪方法,结合KCF跟踪算法,将车辆数据进行关联获取完整轨迹.最后,用车辆分布图和交通场景俯视图显示轨迹,便于交通管理与分析.实验结果表明,提出的跟踪方法在车辆跟踪中有较高的跟踪正确率,同时基于稀疏帧检测的跟踪方法处理速度也较快,实时轨迹分布正确反映了真实场景的车道信息以及目标车辆运动信息.     

Geometric invariant features for the detection and analysis of vehicle

The intelligent traffic management system (ITS) is one of the active research areas. Vehicle detection is a major role in traffic analysis. In the paper, analysis of detecting vehicles is proposed based on the features posed by the vehicle. The foreground pixels from image are extracted by histogram based foreground segmentation. After segmenting, Hu-Moments and Eigen values features are extracted and normalized. The classifiers are trained with the extracted Hu-Moments and Eigen values. The experiments are conducted on different benchmark datasets, and results are analysed considering the overall classification accuracy. Results of the algorithm are satisfactory and acceptable in real time.

     

Automatic determination of traffic accidents based on KMC-based attribute weighting

In this study, the traffic accidents recognizing risk factors related to the environmental (climatological) conditions that are associated with motor vehicles accidents on the Konya-Afyonkarahisar highway with the aid of Geographical Information Systems (GIS) have been determined using the combination of K-means clustering (KMC)-based attribute weighting (KMCAW) and classifier algorithms including artificial neural network (ANN) and adaptive network-based fuzzy inference system (ANFIS). The dynamic segmentation process in ArcGIS9.0 from the traffic accident reports recorded by District Traffic Agency has identified the locations of the motor vehicle accidents. The attributes obtained from this system are day, temperature, humidity, weather conditions, and month of occurred traffic accidents. The traffic accident dataset comprises five attributes (day, temperature, humidity, weather conditions, and month of occurred traffic accidents) and 358 observations including 179 without accident and 179 with accident. The proposed comprises two stages. In the first stage, the all attributes of dataset have been weighted using KMCAW method. The aims of this weighting method are both to increase the classification performance of used classifier algorithm and to transform from linearly non-separable traffic accidents dataset to a linearly separable dataset. In the second stage, after weighting process, ANN and ANFIS classifier algorithms have been separately used to determine the case of traffic accidents as with accident or without accident. In order to evaluate the performance of proposed method, the classification accuracy, sensitivity, specificity and area under the ROC (Receiver Operating Characteristic) curves (AUC) values have been used. While ANN and ANFIS classifiers obtained the overall prediction accuracies of 53.93 and 38.76%, respectively, the combination of KMCAW and ANN and the combination of KMCAW and ANFIS achieved the overall prediction accuracies of 74.15 and 55.06% on the prediction of traffic accidents. The experimental results have demonstrated that the proposed attribute weighting method called KMCAW is a robust and effective data pre-processing method in the prediction of traffic accidents on Konya-Afyonkarahisar highway in Turkey.     

A Particle Swarm Optimization Based Deep Learning Model for Vehicle Classification

Image classification is a core field in the research area of image processing and computer vision in which vehicle classification is a critical domain. The purpose of vehicle categorization is to formulate a compact system to assist in real-world problems and applications such as security, traffic analysis, and self-driving and autonomous vehicles. The recent revolution in the field of machine learning and artificial intelligence has provided an immense amount of support for image processing related problems and has overtaken the conventional, and handcrafted means of solving image analysis problems. In this paper, a combination of pre-trained CNN GoogleNet and a nature-inspired problem optimization scheme, particle swarm optimization (PSO), was employed for autonomous vehicle classification. The model was trained on a vehicle image dataset obtained from Kaggle that has been suitably augmented. The trained model was classified using several classifiers; however, the Cubic SVM (CSVM) classifier was found to outperform the others in both time consumption and accuracy (94.8%). The results obtained from empirical evaluations and statistical tests reveal that the model itself has shown to outperform the other related models not only in terms of accuracy (94.8%) but also in terms of training time (82.7 s) and speed prediction (380 obs/sec).     

Road traffic density estimation using microscopic and macroscopic parameters

In this paper we present a comparative study of two approaches for road traffic density estimation. The first approach uses the microscopic parameters which are extracted using both motion detection and tracking methods from a video sequence, and the second approach uses the macroscopic parameters which are directly estimated by analyzing the global motion in the video scene. The extracted parameters are applied to three classifiers, the K Nearest Neighbor (KNN) classifier, the LVQ classifier and the SVM classifier, in order to classify the road traffic in three categories: light, medium and heavy. The methods are compared based on their robustness to the classification of different road traffic states. The goal of this study is to propose an algorithm for road traffic density estimation with a high precision.     

基于彩色空间的背景帧差法视频车辆检测

视频检测的研究是交通参数采集的主要问题,核心是对运动目标的检测。为克服传统基于灰度的背景帧差法所存在的缺陷,提出了建立在YCbCr彩色空间的背景帧差法检测运动目标,分割阈值采用基于迭代的最佳阈值的确定方法,并提出了梯度极值法得到最清晰、完整的车辆进行车流量的统计。经仿真结果表明提出的车辆检测算法不仅能够取得很高的检测精度,而且算法简单、运行速度快。     

基于像素分类的多尺度无人机航拍目标旋转跟踪算法

针对无人机（UAV）跟踪过程中垂直跟踪框在处理尺度变化、相似物体和纵横比变化时限制了跟踪精度提升的问题,提出一种基于像素分类的多尺度UAV航拍目标旋转跟踪算法。首先,设计MS-ResNet以提取目标多尺度特征;然后,在具有正交特性的多通道响应图上设计像素二分类模块,从而进一步精确细化分类和回归分支的结果;同时,为了提高像素分类精度,使用并行通道空间注意力（scSE）模块在空间域和通道域上筛选目标特征;最后,在像素分类基础上生成贴合目标实际大小的旋转跟踪框,从而避免正样本受到污染。实验结果表明：所提算法在无人机跟踪数据集UAV123上的成功率和准确率分别为60.7%和79.5%、与孪生区域建议跟踪网络（SiamRPN）相比,成功率与准确率分别提升了5个百分点、2.7个百分点,同时速度为67.5 FPS,满足实时要求。所提算法具有良好的尺度适应能力、辨别能力和鲁棒性,能有效应对UAV跟踪任务。     

改进的KCF算法在车辆跟踪中的应用

针对核相关滤波算法(KCF)在复杂道路场景下难以应对因车辆尺度变化,遮挡及旋转而不能继续跟踪的问题,提出了一种新的跟踪方法来更好地实现复杂道路场景下的车辆跟踪。该方法借鉴快速分类尺度空间跟踪器(fDDST),采用一维尺度相关滤波器进行尺度估计。同时融合Kalman滤波器形成预测-跟踪-校准的跟踪机制。该机制结合遮挡处理能够保证系统在目标被严重遮挡时跟踪的准确性。在模型更新方面,在目标被遮挡时,自适应的调节学习率参数,及时纠正模型偏移、特征丢失等问题。实验结果表明,在复杂道路场景下车辆旋转 、遮挡及尺度变化时,均能有效地跟踪目标车辆,且具有良好的鲁棒性。     

车用测距雷达研究进展

车用测距雷达广泛应用于汽车前向碰撞报警系统、主动避撞系统以及自适应巡航控制系统等先进汽车主动安全技术之中。它对于降低道路交通事故和提高汽车主动安全性发挥了重要作用。对车用测距雷达进行了分类和对比,介绍了当前车用测距雷达的研究现状,指出了存在的问题以及相应的解决措施,并对今后的发展前景进行了展望。