International Journal of Computer Science and Information Security (IJCSIS),

Vol. 13, No. 9, September 2015

VEHICLE TRACKING USING LOCALLY WEIGHTED PROJECTION

REGRESSION METHOD

1
Shakila basher, 2Purushothaman S., and 3Rajeswari P.
1
Research Scholar, Department of MCA, VELS University, Chennai, India.
2
Associate Professor,
3
Lecturer, Department of Electrical and Computer Science Engineering,
23
Institute of Technology, Haramaya University, DireDawa, Ethiopia

Abstract
This paper presents the method of tracking vehicle in video frames using Locally
weighted projection regression (LWPR). The coordinates of the segmented vehicle image are
presented to the LWPR. Based on the coordinates of the previous video frames, the LWPR
estimates the next position of the vehicle. The LWPR is trained with coordinates of the
vehicle obtained from few frames. Based on the learned information the next movement of
the vehicle is estimated without processing next few video frames.

1. Introduction
Vehicle tracking is an important area that is very much useful for tracking vehicles
from helicopters, tracking the movement of objects from remote sensing, tracking the
movement of vehicles on the road in a crowded traffic environment. To achieve, the tracking
pre-processing of images have to be carried out. This includes identifying the presence of
vehicles in a frame, identifying frames that do not have vehicles images, identifying non-
vehicle images that can be anything from the road to post lamp. Image processing plays an
important role in processing the frames of the video, and proving with the presence of the
vehicle in a frame.

2. Related work
The object tracking in video processing is an important step to tracking the moving
objects in visual-based surveillance systems and represents a challenging task for researchers
[Porikli and Yilmaz, 2012]. To track the physical appearance of moving objects such as the
vehicles and identify it in dynamic scene, it has to locate the position, estimate the motion of
these blobs and follow these movements between two of consecutive frames in video scene

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[Rhee, 2004]. Several vehicle tracking methods have been illustrated by several researchers
for different issues; it consists of:
1). Region-Based Tracking Methods.
2). Contour Tracking Methods.
3) 3D Model-Based Tracking Methods.
4). Feature-Based Tracking Methods.
5). Color and Pattern-Based Methods.
Gupte et al., 2002, introduced a model-based automobile recognizing, tracking and
classification that is efficiently working under most conditions. The model provides position
and speed knowledge for each vehicle as long as it is visible, also, this model works on series
of traffic scenes recorded by a stable camera for automobiles monocular images. The
processing algorithms of this model represent of three levels: raw images, region level, and
vehicle level.
Jin-Cyuan, 2010, introduced a traffic criterions assessment such as vehicles
numbering and classification involving with a suggested traffic observation scheme. The
scheme demonstrated in its work the feature ratio and density to classify vehicles, also, it
used the geometric traits to eliminate the false regions and for more accurate segmentation
process is used the shades elimination algorithm.
Koller, 1994, stated that contour tracking methods depend on contours of the vehicle
in tracking vehicle process. Ambardekar, 2008, used real-time traffic supervision approach
that employs optical movement and uncalibrated camera parameter knowledge to detect a
vehicle pose in the 3D world. The approach uses two techniques: color contour based
matching and gradient-based matching, and it showed results when it tested for tracking,
foreground object detection, vehicle recognition and vehicle speed assessment methods.
A real-time vehicles tracking and classification technique on the highway is useful. A
few traffic criterions are extracted by the above technique. Also, the technique supports the
occlusion detection and tracking that cause from multiple vehicles poses in the crowding
situation. The method uses the Kalman filter, background [Monnet, 2003] differencing
methods and morphological operations for extraction and recognition vehicle's contour.
In the 3D Model-Based Tracking Methods, Yung and Lai, 1998 presented an
occlusion detection approach based on the generalized deformable model. The occlusion of
vehicles detection process use a 3D solid cuboid form with up to six vertices, and this cuboid
used to fit any different types and sizes of vehicle images by changing the vertices for the
best fit.

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Hsieh, 2006, used feature-based tracking methods using a linearity feature technique, which
is a line-based shade method that uses lines groups to remove all undesirable shades. The
method undertakes well the occlusion resulting from shades. This method represented an
automatic vehicle tracking and classification traffic observation system.
In color and pattern-based tracking method Mao-Chi and Shwu-Huey, 2004, analyzed
colors of image series in traffic supervision. The technique uses the YCrCb color space for
the construction preliminary background, segmenting foreground, vehicle location, vehicle
tracking, shade elimination, and background updating algorithms that used the system.
The limitation of the camera in vehicle tracking is as follows:
1. The camera can cover only small distance because of factors such as road configuration
(e.g., elevation changes, curvature, and overhead or under pass structures), congestion level,
vehicle mix, and inclement weather vertical and lateral viewing angles.
2. The number of lanes observed.
3. Stability with respect to wind and vibration, and image quality.

3. Methodology
LWPR involves projection regression to find mapping of input data with output data.
Locally Weighted Projection Regression (LWPR) is an algorithm that achieves nonlinear
function approximation in high dimensional spaces even in the presence of redundant and
irrelevant input dimensions. At its core, it uses locally linear models, spanned by a small
number of univariate regressions in selected directions in input space. This nonparametric
local learning system
i) learns rapidly with second order learning methods based on incremental training,
ii) uses statistically sound stochastic cross validation to learn,
iii) adjusts its weighting kernels based on local information only,
iv) has a computational complexity that is linear in the number of inputs, and
v) can deal with a large number of-possibly redundant & irrelevant–inputs.

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Fig.1 Flowchart of Locally Weighted Projection Regression

Figure 1 indicates general flow chart for implementing the LWPR algorithm.

4. Results and discussions

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Fig.2 Sample video frames Fig.3 x-y coordinates of a vehicle

0.06
6 x 7 x 1 with receptive field

0.055
Error

0.05

0.045

0.04
0 5 10 15 20
Number of iterations

Fig.4 Error for learning x-y coordinates error

Figure 4 shows error while training the LWPR for x-y-difference vector. The
convergence rate comes close to 0.022 in more than 25 iterations.

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Fig.5 Estimation of vehicle location by LWPR

Figure 5 presents the actual location of the vehicle in the frame and the estimated location by
LWPR. In this limited frames, the LWPR performs best in estimation.

5. Conclusion
In this work, the segmented vehicle images are considered. The x,y coordinates of the
frames were used as input data for training the LWPR algorithm. The final weights obtained
after training the LWPR has been used for estimating the next vehicle position the subsequent
vide frames.

References
[1] Ambardekar A., 2008, Efficient Vehicle Tracking and Classification for an
Automated Traffic Surveillance System, in International Conference on of Signal and
Image Processing, pp.1-6.
[2] Gupte S., Masoud O., Martin R.F.K., and Papanikolopoulos N.P., 2002, Detection and
classification of vehicles, IEEE Transactions on Intelligent Transportation Systems,
Vol.3, No.1, pp.37–47.
[3] Hsieh J.W., 2006, Automatic traffic surveillance system for vehicle tracking and
classification, Intelligent Transportation Systems, IEEE Transactions on, Vol.7,
pp.175-187.

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Vol. 13, No. 9, September 2015

[4] Jin-Cyuan L., 2010, Image-based vehicle tracking and classification on the highway,
International Conference in Green Circuits and Systems (ICGCS), 2010, pp.666-670.
[5] Koller D., 1994, Towards robust automatic traffic scene analysis in real-time, in
Decision and Control, Proceedings of the 33rd IEEE Conference on, Vol.4, pp.3776-
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[6] Mao-Chi H., and Shwu-Huey Y., 2004, A real-time and color-based computer vision
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[7] Monnet A., 2003, Background Modeling and Subtraction of Dynamic Scenes,
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[8] Porikli F., and Yilmaz A., 2012, Object Detection and Tracking, Springer Berlin
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[9] Rhee S., 2004, Vehicle Tracking Using Image Processing Techniques, in Rough Sets
and Current Trends in Computing, Vol.3066, S. Tsumoto, et al., Eds., ed: Springer
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[10] Yung N.H.C. and Lai A.H.S., 1998, Detection of vehicle occlusion using a
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the 1998 IEEE International Symposium on, Vol.4, pp.154-157.

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