Real-time vehicle detection using segmentation-based detection network and trajectory prediction

The position of vehicles is determined using an algorithm that includes two stages of detection and prediction. The more the number of frames in which the detection network is used, the more accurate the detector is, and the more the prediction network is used, the algorithm is faster. Therefore, the algorithm is very flexible to achieve the required accuracy and speed. YOLO's base detection network is designed to be robust against vehicle scale changes. Also, feature maps are produced in the detector network, which contribute greatly to increasing the accuracy of the detector. In these maps, using differential images and a u-net-based module, image segmentation has been done into two classes: vehicle and background. To increase the accuracy of the recursive predictive network, vehicle manoeuvres are classified. For this purpose, the spatial and temporal information of the vehicles are considered simultaneously. This classifier is much more effective than classifiers that consider spatial and temporal information separately. The Highway and UA-DETRAC datasets demonstrate the performance of the proposed algorithm in urban traffic monitoring systems.