VEHICLE DETECTION, TRACKING AND LOCALIZATION BASED ON ENHANCED ANTI-PERSPECTIVE TRANSFORMATION

摘要

A method for a vehicle management system with a perspective view camera generating perspective images of vehicles in a traffic direction, including performing an anti-perspective transform on the perspective images; separating each anti-perspective image into sub-images along one of a radial direction and a tangential direction relative to the traffic direction; determining a scale factor for each sub-image based upon measuring a scale of each vehicle at plural positions in one image using a frame difference method performing a scale transform for each sub-image using the corresponding scale factors for the sub-image; combining each of the scale transformed sub-images for each vehicle into corresponding enhanced anti-perspective images; performing vehicle detection for each vehicle based a combination of the enhanced anti-perspective images in which tracking is enhanced with an optimized detection box size range determined by the enhanced anti-perspective images; and performing vehicle tracking for each vehicle based on the combination of the enhanced anti-perspective images in which detecting is enhanced with the optimized detection box size range determined by the enhanced anti-perspective images.