Stereo Vision-based Visual Tracking using 3D Feature Clustering for Robust Vehicle Tracking

Young-Chul Lim, Minsung Kang

2014

Abstract

In order to detect vehicles on the road reliably, a vehicle detector and tracker should be integrated to work in unison. In real applications, some of the ROIs generated from a vehicle detector are often ill-fitting due to imperfect detector outputs. The ill-fitting ROIs make it difficult for tracker to estimate a target vehicle correctly due to outliers. In this paper, we propose a stereo-based visual tracking method using a 3D feature clustering scheme to overcome this problem. Our method selects reliable features using feature matching and a 3D feature clustering method and estimates an accurate transform model using a modified RANSAC algorithm. Our experimental results demonstrate that the proposed method offers better performance compared with previous feature-based tracking methods.

Paper Citation

in Harvard Style

Lim Y. and Kang M. (2014). Stereo Vision-based Visual Tracking using 3D Feature Clustering for Robust Vehicle Tracking . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, (ICINCO 2014) ISBN 978-989-758-040-6, pages 788-793. DOI: 10.5220/0005147807880793

in Bibtex Style

@conference{ivc&its14,
author={Young-Chul Lim and Minsung Kang},
title={Stereo Vision-based Visual Tracking using 3D Feature Clustering for Robust Vehicle Tracking},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, (ICINCO 2014)},
year={2014},
pages={788-793},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005147807880793},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, (ICINCO 2014)
TI - Stereo Vision-based Visual Tracking using 3D Feature Clustering for Robust Vehicle Tracking
SN - 978-989-758-040-6
AU - Lim Y.
AU - Kang M.
PY - 2014
SP - 788
EP - 793
DO - 10.5220/0005147807880793