The System Estimating Distance between Two Vehicles by Altitude-Camera-Movie and Ortho-Mosaic-Images

Abstract

We built a system that continuously estimates the distance between vehicles in altitude camera movie. We have been conducting research on utilizing the wide shooting range of altitude camera movie for monitoring running vehicles. However, it is necessary to convert the coordinates of the tracked vehicles to nadir coordinates in order to estimate the distance between vehicles as correctly as possible. Also, the number of pixels that make up a running vehicle, about 50x50 px, is too small to extract the features necessary for detection and tracking. In this study, we created a transform map by matching the road section lines in the background image and ortho image created from the overhead image as a pre-processing of the system to convert the coordinates of the tracked vehicles to nadir coordinates. Furthermore, since dangerous vehicles that are targets for estimating the distance between vehicles can be roughly recognized by humans, we adopted template matching by extracting the region selected by humans as a template image. We built the system that converts the coordinates of the tracked vehicles to nadir coordinates sequentially and estimates the distance between vehicles.