Citation

Najman P, Zemčík P. IEEE Trans. Intel. Transp. Syst. 2022; 23(3): 2202-2210.

Copyright

(Copyright © 2022, IEEE (Institute of Electrical and Electronics Engineers))

DOI

10.1109/TITS.2020.3035262

PMID

unavailable

Abstract

We have proposed a novel method for vehicle speed estimation using a calibrated and synchronized pair of stereo cameras. In a newly proposed method, we first localize the vehicle by detecting and tracking its license plate in a series of stereo images; then, we triangulate the vehicle position along its trajectory; and finally, we compute its speed based on the trajectory and time. The experiments show that the proposed method overcomes state-of-the-art results with a mean error of approximately 0.05 km/h, a standard deviation of less than 0.20 km/h, and a maximum absolute error of less than 0.75 km/h. For the purpose of evaluation, we have recorded a dataset that contains over 600 vehicles whose trajectories were recorded and for which their ground truth speed was obtained from a pair of single beam LIDARs in optical gate configuration. Using the presented method, the speed was measured for over 99 % of the recorded vehicles. Others were rejected by the method mainly due to their short trajectories, obstructed license plates or frame errors that would adversely affect the precision of the measurement.

Language: en

Keywords

Calibration; Cameras; Estimation; Licenses; Roads; stereo matching; stereo vision; sub-pixel registration; Trajectory; Vehicle speed measurement; Velocity measurement