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A Fusion of a Monocular Camera and Vehicle-to-Vehicle Communication for Vehicle Tracking: An Experimental Study

In this paper we present the procedure of fusing a monocular camera based vehicle tracking and IEEE 802.11p Vehicle-to-Vehicle communication enabled position, velocity and time sharing. Toward a monocular camera-based detection and tracking, Haar-like features of a vehicle are trained, median flow tracking algorithm is applied, pixel based relative distance and relative speed is estimated. In order to improve reliability and availability of tracking system, IEEE 802.11p radio modem is added. Then, we implement Particle Filter algorithm in order to fuse the information provided by these two sensors subject to different characteristics. We evaluate the tracking system by the real road data collected on highway. Sensor fusion results along different road scenarios are presented. We present the state-of-the-art low cost sensor fusion, our application setup and elaborate some experimental results.