Real-time multiple vehicle detection and tracking from a moving vehicle |
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Authors: | Margrit Betke Esin Haritaoglu Larry S Davis |
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Affiliation: | (1) Boston College, Computer Science Department, Chestnut Hill, MA 02167, USA; e-mail: betke@cs.bu.edu , US;(2) University of Maryland, College Park, MD 20742, USA , US |
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Abstract: | 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 |
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Keywords: | : Real-time computer vision – Vehicle detection and tracking – Object recognition under ego-motion – Intelligent vehicles |
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