Development of a multiple‐camera 3D vehicle tracking system for traffic data collection at intersections
Development of a multiple‐camera 3D vehicle tracking system for traffic data collection at intersections
复制标题
开发用于交叉口交通数据采集的多摄像头 3D 车辆跟踪系统
DOI：
10.1049/iet-its.2018.5163
复制
发表时间：
2018
影响因子：
2.7
通讯作者：
Hua Tang
中科院分区：
文献类型：
--
作者：
Sukriti Subedi;Hua Tang
在本文中，我们提出并开发了一个多摄像头的三维车辆跟踪系统的交通数据采集在交叉口。假设一个简单的3D长方体模型的车辆，开发的系统允许3D车辆尺寸估计使用融合的信息从多个摄像头。使用一个共同的矩形道路模式，每个摄像头首先单独校准，然后联合后优化。然后，开发的3D车辆跟踪系统将来自多个摄像机的同步图像作为输入，并使用对象分割技术处理2D图像帧以获得车辆轮廓。在2D车辆分割之后，2D图像帧中的对象被投影到3D真实的世界以允许估计车辆长度和宽度。在图像视图中寻找对象的高度，该高度将创建车辆的顶部四边形，该顶部四边形具有离车辆基部四边形最远的边缘。基于卡尔曼滤波的车辆跟踪，感兴趣的交通数据，如车辆计数，来自车辆轨迹。一个交叉路口的两个摄像头的真实世界的实验结果表明，开发的3D车辆跟踪系统可以可靠地估计3D车辆尺寸和提高交通数据收集的准确性相比，单摄像头系统。
In this paper, we propose and develop a multiple-camera 3D vehicle tracking system for traffic data collection at intersections. Assuming a simple 3D cuboid model for the vehicle, the developed system allows 3D vehicle dimension estimation using fusion of information from multiple cameras. Using a common rectangular road pattern, each camera is first individually calibrated and then jointly post-optimised. Then, the developed 3D vehicle tracking system takes synchronised images from multiple cameras as inputs and processes 2D image frames using object segmentation techniques to derive vehicle silhouettes. After 2D vehicle segmentation, objects in the 2D image frames are projected to the 3D real world to allow estimation of vehicle length and width. The height of the object is sought in the image view that would create the top quadrilateral of the vehicle that has the edge furthest away from the vehicle base quadrilateral. With Kalman filter based vehicle tracking, interested traffic data, such as vehicle count, are derived from the vehicle trajectory. Real-world experimental results for an intersection with two cameras have shown that the developed 3D vehicle tracking system can reliably estimate 3D vehicle dimensions and improve accuracy of traffic data collection compared to a single-camera system.