A Vehicle Trajectory Analysis Approach Based on the Rigid Constraints of Object in 3-D Space

A reliable and effective trajectories similarity metric is one of key factors for vehicle trajectories clustering problem. A trajectory clustering algorithm based on the rigid constraints of vehicles in 3-D space is proposed in this paper, which conducts vehicle trajectories clustering effectively and precisely by using a new 3-D trajectories similarity metric. Based on two key procedures, camera calibration and a reconstruction of 2-D trajectories in 3-D space, a valuable principle that the heights of the trajectories have a linear relationship between them is found through using the kinematic properties of vehicle rigid body in moving. A more valuable information need to be pay attention is that the height of two trajectories that with displacement difference satisfies a plane surface character in 3-D space when conducts a height enumeration. The experimental results show that the trajectories are very stable and reliable for clustering and event detection when reconstructing their relative position in 3-D world coordinate system.