IMPROVEMENT OF A PROCEDURE FOR VEHICLE DETECTION AND TRACKING BY BASE FRAME UPDATING AND KALMAN FILTER

For the vehicle detection and tracking in the roundabouts, several difficulties have to be faced, e.g. the use of non nadiral perspectives, vehicle images overlapping and radiometric differences between top and side of the cars; the silhouette of the cars is, besides, not regular and the size is variable. In the paper, the upgrade of a procedure for detecting and tracking vehicles in a roundabout is presented. The image subtraction technique is used, along with geometric and radiometric filters. The problems due to the variation of the background radiometric characteristics are discussed. Kalman filter has been used to foreseen the position of vehicles for a better tracking, and to improve the determination of the trajectories. The results of a test are presented.