Fig. 2: Close-up view of a vehicle,
overlayed with the projected model edges according to the current pose estimation (orange)
together with the Edge Elements associated (red) and unassociated (blue) with the vehicle
Fig. 3: Same close-up view as Fig. 2 with EM Contour algorithm visualizations.
Lines are drawn from equidistant sample points on the projected model segments to the location of the grayvalue discontinuity.
Greener color depict a stronger grayvalue difference in the discontinuity.
Fig. 4: Other traffic scene with overlayed Optical Flow (OF) Categories.
Regular OF is yellow, OF Discontinuities are red, Dominant Gradient Direction in line with the Grayvalue Direction is green
and orthogonal to it blue
Points with an optical flow length < 0.2 pixels or with a grayvalue structure trace of < 1 are not colored.
Fig. 5: Tracking based on an approximate, articulated human body model is supported as well [Wachter & Nagel, CVIU 1999].
Fig. 6: Interactively selected Ground Truth Trajectories allow for automatic evaluation of tracking results.