On the Fly Vehicle Modeling and Tracking with 2D-LiDAR Detector and Infrared Camera

Kazuhiko Sumi, Kazunari Takagi, Tatsuya Oshiro, Takuya Matsumoto, Kazuyoshi Kitajima, Yoshifumi Hayakawa, Masayuki Yamamoto

2020

Abstract

We propose a vehicle detection and tracking system that tracks vehicles from the rear using a 10-band infrared (IR) surveillance camera installed along the expressway. The main reason for using an infrared camera is to suppress the strong light reflections of head and tail lights of the vehicle at rainy night. However, due to lack of a large IR traffic video datasets covering all type of vehicles, we will not be able to take advantages of recent machine learning advances. Therefore, we propose rather straight approach to detect vehicles by a pair of 2D-LiDARs, then generate the image model of vehicle to be tracked on the fly. We prototyped the system and evaluated it with a normal traffic video taken on a highway. We achieved a 94% tracking success rate at a distance of 20m to 70m from the camera and mean error of localization is less than 2m at 70m.

Paper Citation

in Harvard Style

Sumi K., Takagi K., Oshiro T., Matsumoto T., Kitajima K., Hayakawa Y. and Yamamoto M. (2020). On the Fly Vehicle Modeling and Tracking with 2D-LiDAR Detector and Infrared Camera. In Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2020) - Volume 4: VISAPP; ISBN 978-989-758-402-2, SciTePress, pages 810-813. DOI: 10.5220/0009105608100813

in Bibtex Style

@conference{visapp20,
author={Kazuhiko Sumi and Kazunari Takagi and Tatsuya Oshiro and Takuya Matsumoto and Kazuyoshi Kitajima and Yoshifumi Hayakawa and Masayuki Yamamoto},
title={On the Fly Vehicle Modeling and Tracking with 2D-LiDAR Detector and Infrared Camera},
booktitle={Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2020) - Volume 4: VISAPP},
year={2020},
pages={810-813},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009105608100813},
isbn={978-989-758-402-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2020) - Volume 4: VISAPP
TI - On the Fly Vehicle Modeling and Tracking with 2D-LiDAR Detector and Infrared Camera
SN - 978-989-758-402-2
AU - Sumi K.
AU - Takagi K.
AU - Oshiro T.
AU - Matsumoto T.
AU - Kitajima K.
AU - Hayakawa Y.
AU - Yamamoto M.
PY - 2020
SP - 810
EP - 813
DO - 10.5220/0009105608100813
PB - SciTePress