本文为美国克莱姆森大学（作者：Neeraj K. Kanhere）的硕士论文，共59页。

提出了一种新的在摄像机离地较低或在路边时对公路进行视频监控的方法，在这种情况下，车辆高度的遮挡和视线效果不能被忽略。在整个图像序列中检测并跟踪特征，然后使用标准算法将其进行分组。该系统的关键部分是通过单台摄像机对车辆上特征点的三维世界坐标进行估计。在不同公路上的试验结果表明，即使在存在严重阻塞和明显的视角变化情况下，系统也能够成功地对车辆进行分段和跟踪。

A novel method is presented for visually monitoring a highway when the camera is relatively low to the ground and on the side of the road. In such a case, occlusion and the perspective effects due to the heights of the vehicles cannot be ignored. Features are detected and tracked throughout the image sequence and then grouped together using a standard algorithm. The key part of the proposed system is to estimate the 3D world coordinates of feature points on the vehicles from a single camera. Experimental results on different highways demonstrate the system’s ability to successfully segment and track vehicles even in the presence of severe occlusion and significant perspective changes.

1 引言

1.1 相关工作

1.2 定义

2 设计方法

2.1 离线校正

2.2 帧数据处理

2.3 帧数据之间的对应关系

3 实验结果

4 结论

附录A 本文使用的符号

附录B 相关假设

附录C 地图误差与路面高度的函数关系 

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