Robust correlation of vehicle extents and locations when given noisy detections and limited field-of-view image frames

Abstract

A computer accesses a plurality of image frames. The computer identifies, within the plurality of image frames, a plurality of vehicle front vehicle back detections. The computer pairs at least a subset of the plurality of vehicle back detections with vehicle front detections. A given vehicle back detection is paired with a given vehicle front detection based on camera angle relative to a predefined axis. The computer assigns, using each of a plurality of pools, a score to each vehicle front detection—vehicle back detection pair, each non-paired vehicle front detection, and each non-paired vehicle back detection. Each pool comprises a data structure representing a scoring mechanism and a set of detections. The computer assigns each detection to a pool that assigned a highest score to that detection. Upon determining that a given pool comprises at least n detections: the computer labels the given pool as representing a specific vehicle.