Quantitative comparison between trajectory estimates obtained from a binocular camera setup within a moving road vehicle and from the outside by a stationary monocular camera

Abstract The image sequence evaluation system Xtrack detects, initializes, and tracks images of moving road vehicles in videosequences recorded at innercity traffic scenes by a stationary camera. An additional model-based vision system Ximage tracks road models in video sequences recorded from within a driving vehicle . Both systems produce the same kind of results (vehicle trajectories). We have established a link between Xtrack and Ximage which enables us to quantitatively compare trajectories of the same vehicle obtained independently by both systems for the same observed traffic situation.

[1]  Charles E. Thorpe,et al.  The YARF system for vision-based road following , 1995 .

[2]  C. Goerick,et al.  Towards all around automatic visual obstacle sensing for cars , 1994, Proceedings of the Intelligent Vehicles '94 Symposium.

[3]  Hans-Hellmut Nagel,et al.  (Mis?-) Using DRT for Generation of Natural Language Text from Image Sequences , 1998, ECCV.

[4]  H. Leuck,et al.  T3wT: Tracking Turning Trucks with Trailers , 1998 .

[5]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[6]  T. Suzuki,et al.  A real-time vision for intelligent vehicles , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[7]  Jitendra Malik,et al.  An integrated stereo-based approach to automatic vehicle guidance , 1995, Proceedings of IEEE International Conference on Computer Vision.

[8]  Ernst D. Dickmanns,et al.  Recursive 3-D Road and Relative Ego-State Recognition , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[9]  Martin Tonko.  Zur sichtsytemgestützten Demontage am Beispiel von Altfahrzeugen , 1997, DISKI.

[10]  R. Stephenson.  A and V , 1962, The British journal of ophthalmology.

[11]  André Rieder.  Trinocular divergent stereo vision , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[12]  Alberto Broggi.  A massively parallel approach to real-time vision-based road markings detection , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[13]  Hans-Hellmut Nagel,et al.  FhG-Co-driver: From map-guided automatic driving by machine vision to a cooperative driver support , 1995 .

[14]  Michael Haag.  Bildfolgenauswertung zur Erkennung der Absichten von Straßenverkehrsteilnehmern , 1998, DISKI.

[15]  Volker Graefe,et al.  Automatic recognition of vehicles approaching from behind , 1992, Proceedings of the Intelligent Vehicles `92 Symposium.

[16]  Hans-Hellmut Nagel,et al.  Estimation of Optical Flow Based on Higher-Order Spatiotemporal Derivatives in Interlaced and Non-Interlaced Image Sequences , 1995, Artif. Intell..

[17]  F. Heimes,et al.  Real-time tracking of intersections in image sequences of a moving camera , 1998 .