On road vehicles real-time detection and tracking using vision based approach

A novel monocular camera based on road vehicle detection and trcking approach by fuse multi-cues of object is present to improve drive security by providing some effective on road vehicles position information for driver. First, the horizontal symmetry of vehicle rear view is utilized to achieve the region of interest (ROI) extract so as to reduce search area of following process. And then, the sign of underneath shadow is employed to generate hypothetical positions on which potential vehicles maybe present. Following, both image intensity and figure information are combined to used to verify the vertical symmetry of the potential vehicle candidates. Meanwhile, mean shift procedure, based on the object feature model of combine color histogram and orientation histogram, is employ to fast search the potential objects between two sequential image frames. More important, both detection and tracking cooperate work under a interactive mechanism which can dramatically improve both detection efficiency and real-time. Experimental results show that the proposed approach can achieve 96.34% correct recognition rate and run on an average 24.27 frame/s, which validate the vehicle drive security and real-time requirements.