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real time speed estimation of moving vehicles from side view images from an uncalibrated video camera实时速度行驶车辆从一个侧面图像估计未校准摄像机.pdf

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real time speed estimation of moving vehicles from side view images from an uncalibrated video camera实时速度行驶车辆从一个侧面图像估计未校准摄像机

Sensors 2010, 10, 4805-4824; doi:10.3390/s100504805 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Real Time Speed Estimation of Moving Vehicles from Side View Images from an Uncalibrated Video Camera Sedat Doğan 1,*, Mahir Serhan Temiz 1 and Sıtkı Külür 2 1 Department of Geodesy and Photogrammetry, Engineering Faculty, Ondokuz Mayis University, 55 139 Kurupelit, Samsun, Turkey; E-Mail: mstemiz@.tr 2 Department of Geodesy and Photogrammetry, Civil Engineering Faculty, Istanbul Technical University, 80 626 Maslak, Istanbul, Turkey; E-Mail: skulur@.tr * Author to whom correspondence should be addressed; E-Mail: sedatdo@.tr; Tel.: +90-532-664-4250; Fax: +90-362-457-6035. Received: 28 December 2009; in revised form: 12 April 2010 / Accepted: 22 April 2010 / Published: 11 May 2010 Abstract: In order to estimate the speed of a moving vehicle with side view camera images, velocity vectors of a sufficient number of reference points identified on the vehicle must be found using frame images. This procedure involves two main steps. In the first step, a sufficient number of points from the vehicle is selected, and these points must be accurately tracked on at least two successive video frames. In the second step, by using the displacement vectors of the tracked points and passed time, the velocity vectors of those points are computed. Computed velocity vectors are defined in the video image coordinate system and displacement vectors are measured by the means of