Effective Multi-Vehicle Tracking in Nighttime Condition Using Imaging Sensors

Hanseok Ko, Ilkwang Lee, Jihyo Lee, David Han

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In this paper, we develop an image-based tracking algorithm of multiple vehicles performing effective detection and tracking of moving objects under adverse environmental conditions. In particular, we employ low cost commercial off-the-shelf IR or CCD image sensor for generating continuous images of multiple moving vehicles. The motion in image sequences is first detected by adaptive background estimation and then tracked by Kalman filtering with the attribute information being updated by data association. Upon applying a modified Retinex procedure as preprocessing to reduce the illumination effects, we proceed with a two-step tracking algorithm. The first step achieves blob grouping and then judicially selects the true targets for tracking using data association through information registration. In the second stage, all blobs detected go through a validation for screening as well as for occlusion reasoning, and those found pertinent to the real object survive to become the 'Object' state for stable tracking. The results of representative tests confirm its effectiveness in vehicle tracking under both daylight and nighttime conditions while resolving occlusions.

Original languageEnglish
Pages (from-to)1887-1895
Number of pages9
JournalIEICE Transactions on Information and Systems
Issue number9
Publication statusPublished - 2003 Sep


  • CCD
  • IR
  • Multi-vehicle tracking
  • Nighttime condition
  • Two-step tracking

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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