Publication Details
Vehicle Speed Measurement Using Stereo Camera Pair
Vehicle speed measurement, stereo matching, sub-pixel registration, stereo vision.
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.
@ARTICLE{FITPUB12405, author = "Pavel Najman and Pavel Zem\v{c}\'{i}k", title = "Vehicle Speed Measurement Using Stereo Camera Pair", pages = "2202--2210", journal = "IEEE Transactions on Intelligent Transportation Systems", volume = 23, number = 3, year = 2020, ISSN = "1524-9050", doi = "10.1109/TITS.2020.3035262", language = "english", url = "https://www.fit.vut.cz/research/publication/12405" }