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{BUT168552,
author="Pavel {Najman} and Pavel {Zemčík}",
title="Vehicle Speed Measurement Using Stereo Camera Pair",
journal="IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS",
year="2020",
volume="23",
number="3",
pages="2202--2210",
doi="10.1109/TITS.2020.3035262",
issn="1524-9050",
url="https://ieeexplore.ieee.org/document/9254152"
}