Successive Observations of Trajectories of Vehicles with Image Data by Plural Cameras and with GPS Positioning Data

Abstract

In this study, we improved the estimation system for vehicle trajectories to achieve both long observation ranges and high accuracy by using multiple video cameras installed adjacent to each other along roads. First, we applied a two-dimensional projective transformation formula to limit the control point setting on the road surfaces by separating the projection of the tracking point on the triangles that approximate the road surface and correcting the position coordinates for the gap between the tracking point and the triangles. Additionally, by setting the control points based on the screen coordinate values of the probe vehicle and the GPS positioning values, the road surface approximation triangle can be arranged evenly and efficiently. We set 734 road surface approximation triangles in the observation section of about 820 meters of the expressway, and the average Euclidean range was 0.1 meters, and the RMSE of the traveling speed was 0.5 km/h based on the positioning results of the probe vehicle.