Deep Learning-based Trajectory Estimation of Vehicles in Crowded and Crossroad Scenarios

Abstract

The rapid developments in the field of Artificial Intelligence are bringing enhancements in the area of intelligent transport systems by overcoming the challenges of safety concerns. Traffic surveillance systems based on CCTV cameras can help us to achieve safe and sustainable transport systems. Trajectory estimation of vehicles is an important part of traffic surveillance systems and self-driving cars. The task is challenging due to the variations in illumination intensities, object sizes and real-time detection. We propose tracking by detection based trajectory estimation pipeline which consists of two stages: The first stage is the detection and localization of vehicles and the second stage is building associations in bounding boxes and track the associated bounding boxes. We analyze the performance of the Mask RCNN benchmark and YOLOv3 on the UA-DETRAC dataset and evaluate certain metrics like Intersection over Union, Precision-Recall curve, and Mean Average Precision. Experiments show that Mask RCNN Benchmark outperforms YOLOv3 in terms of accuracy. SORT tracker is applied on detected bounding boxes to estimate trajectories. The tracker is evaluated using mean absolute error. We demonstrate that the developed technique works successfully in crowded and crossroad scenarios.

Keywords

• vehicle tracking
• tracking by detection
• vehicle detection
• trajectory estimation
• intelligent transport systems