| Popis: |
We describe a system for detection and tracking of vehicles from a single on-board frontal camera, developed as a part of the European CAMELLIA project. Five image processing algorithms are used to detect target vehicles, classify them and maintain their exact localization. The fusion of the result of the algorithms is done using particle filtering. We assert that the particles filter forms the optimal mechanism to exploit the perceived data since it maintains the full probability density function based on all available algorithm in a given illumination and weather conditions. The algorithms are designed to exploit a set of low-level image processing operations, provided by a smart imaging core developed in the project. The result is that the system runs on 20 images/sec even on a regular pentium PC, and is design to run on real time using an ARM and the hardware core. The system was tested on many sequences and performs well even in hard conditions like rain and night. |
