Visual Tracking of Buses in a Parking Lot
Tiago Castanheira, Pavel José Da Silva, Ricardo Poley Martins Ferreira, Alexandre J. M. Bernardino, José António Gaspar · 2013
In this paper we propose an automatic system for the visual-tracking of buses in a parking lot, by using a set of Pan-Tilt-Zoom (PTZ) cameras. It is assumed that the parking lot has specific entry points, so that the places from where the buses come in are known beforehand. To detect the buses a background subtraction method is used, being then made an initial estimation of the bus position through backprojection. This estimate is then refined by an algorithm that also provides the bus orientation. The final estimate is then used in a EKF (Extended Kalman Filter) filter to provide a estimation of the bus next position, which allows to decide the camera movement. To test the system a simple simulator was developed using Matlab and Virtual Reality Modelling Language (VRML). 1