Efficient image gradient based vehicle localization
This paper reports novel algorithms for the efficient localization and recognition of traffic in traffic scenes. The algorithms eliminate the need for explicit symbolic feature extraction and matching. The pose and class of an object is determined by a form of voting and one-dimensional (1-D) correlations based directly on image gradient data, which can be computed "on the fly." The algorithms are therefore very well suited to real-time implementation. The algorithms make use of two a priori sources of knowledge about the scene and the objects expected: (1) the ground-plane constraint and (2) the fact that the overall shape of road vehicles is strongly rectilinear. Additional efficiency is derived from making the weak perspective assumption. These assumptions are valid in the road traffic application domain. The algorithms are demonstrated and tested using routine outdoor traffic images. Success with a variety of vehicles in several traffic scenes demonstrates the efficiency and robustness of context-based image understanding in road traffic scene analysis. The limitations of the algorithms are also addressed in the paper.