Monocular target detection on transport infrastructures with dynamic and variable environments
S. Alvarez, David Fernández Llorca, Miguel Ángel Sotelo, A. G. Lorente · 2012
This paper describes a target detection system on transport infrastructures, based on monocular vision, for applications in the framework of Intelligent Transportation Systems (ITS). Using structured elements of the image, a vanishing point extraction is proposed to obtain an automatic calibration of the camera, without any prior knowledge. This calibration provides an approximate size of the searched targets (vehicles or pedestrians), improving the performance of the detection steps. After that, a background subtraction method, based on GMM and shadow detection algorithms, is used to segment the image. Next a feature extraction, optical flow analysis and clustering methods are used to track the objects. The algorithm is robust to camera jitter, illumination changes and shadows. Therefore it can work indoor and outdoor, in different conditions and scenarios, and independent of the position of the camera. In the paper, we present and discuss the results achieved up to date in real traffic conditions.