Soft Computing

https://doi.org/10.1007/s00500-020-05042-z (0123456789().,-volV)(0123456789().,-volV)

METHODOLOGIES AND APPLICATION

An intelligent multiple vehicle detection and tracking using modified

vibe algorithm and deep learning algorithm
D. Sudha1 • J. Priyadarshini1

 Springer-Verlag GmbH Germany, part of Springer Nature 2020

Abstract
Multiple vehicle detection is a promising and challenging role in intelligent transportation systems and computer vision
applications. Most existing methods detect vehicles with bounding box representation and fail to offer the location of
vehicles. However, the location information is vigorous for several real-time applications such as the motion estimation
and trajectory of vehicles moving on the road. In this paper, we propose an advanced deep learning method called enhanced
you only look once v3 and improved visual background extractor algorithms are used to detect the multi-type and multiple
vehicles in an input video. More precisely, tracking is to find the trace of the upcoming vehicles using a combined Kalman
filtering algorithm and particle filter techniques. To improve the tracking results, further, we propose the technique, namely
multiple vehicle tracking algorithms, and tested with different weather conditions such as sunny, rainy, night and fog in
input videos of 30 frames per second. The major research issues were found in the recent kinds of literature in ITS sector
which is closely related to the real-time traffic environmental problems such as occlusions, camera oscillations, background
changes, sensors, cluttering, camouflage, varying illumination changes in a day- and sunny and at nighttime vision. The
experimental results are tested with the ten different input videos and two benchmark datasets KITTI and DETRAC. The
most eight high- level features have been considered for automatic feature extraction and annotation. The attributes are
length, width, height, number of mirrors and wheels and windscreen shielding glass to detect the target region of interest
(vehicles) on road. In addition, further experiments are carried out in multiple-input videos of high definition quality using
a monocular camera, and the average accuracy is 98.6%, and the time complexity of the algorithm is O(n) and also tracking
results attained 96.6%. The dataset and input videos are discussed in comparative results with the F-test measure done for
multiple vehicles.

Keywords Multiple vehicle detection
EYOLO
IVIBE
CKFA
Occlusion

1 Introduction extensive power and resources of sensors along with

reducing the mortality rate. Among all these vehicle
Multiple vehicle detection and tracking are one of the detections and tracking is to save lives by preventing
emerging hot challenging research issues in the field of accidents on roads using the advanced technologies and
intelligent transportation sectors, computer vision, and so algorithms that exist (Chen et al. 2018). More number of
on. The motivation of vehicle detection is as follows: high existing challenges like illumination changes, camera
computational cost, lack of datasets, high error rate, oscillations, background noise, camouflage, motion speed,
occlusion and collision leads to failure detection and
tracking of multiple vehicles in real-time motion on road.
Communicated by V. Loia. Hence, various existing studies have proved that the
detection methods were obtained based on feature-based
& D. Sudha
dsudha.89@gmail.com object detection, motion-based detection, sensor-based
detection like radar, lidar and cameras and so on (Deng
J. Priyadarshini
vinodha.nizanth@gmail.com et al. 2017; Cai et al. 2017; Satzoda and Trivedi 2016; Lu
et al. 2018; Liu et al. 2010). Many machine learning and
1
School of Computer Science and Engineering, VIT, Chennai, deep learning algorithms have been proposed for object
India

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detection and tracking such as supervised and unsupervised
machine learning, reinforcement learning, convolutional
neural network, sliding window approach, R-CNN, fast
R-CNN and you only look once, multi-scale deep convo-
lutional neural network.
Many deep learning algorithms like fast R-CNN have
achieved promising results for object detection, whereas a
pretrained network is fine-tuned to classify targets based on
the proper labeling with the candidate region of interest. It
enables end-to-end training so that the processing time is
slow for forward passes on every iteration of a single object
independently and sharing less computation (Gustafsson
and Frederick 2018; Ravikumar et al. 2017). To reduce the
factors of the forward pass in R-CNN, a deep convolutional
neural network and (Chen et al. 2018) fast R-CNN have
been introduced. Object detection is the one to locate and
find instances of real-world objects like multiple cars,
buses, trucks, bicycles based on the high-level and low-
level features of labeled information. Moreover, object
detection falls into three-level categories such as motion-
based object detection, feature-based object detection and
offline-based detection methods. Now a days, real time
higher end applications lies on detection and tracking of
multiple kinds of multiple vehicles on road with several
challenges and deep learning plays a major role to attain
promising results for ITS sector problem.
Deep learning has been bringing new technologies for
providing a higher level of accuracy and consumes a high
computational cost of object detection with labeled pre-
trained network model, but it is not suitable for real-time
traffic input videos of high quality to track moving multiple
vehicles on road. Deep learning models work well only for
single object effectively than the traditional methods of AI
and ML state-of-the-art approaches in the literature. To
overcome the existing challenges, proposed method
enables to attain feature based 3-tier methods Haar, LBP
and HOG and then for tracking CKFA and kalman filtering
algorithms along with modified hungarian algorithm were
used.
This paper contributes to the literature in two aspects:
(1) We propose a novel deep learning method, enhanced
you only look once (EYOLO) v3, in order to detect
the multiple vehicles and represent a rectangular
bounding box with a different classification of labels
like the car, bus, truck and lorry
(2) We propose a novel strategy, called combined
filtering techniques and multiple vehicle tracking
algorithms (MVTA), to initialize window size,
correlation mean and covariance and to update the
region proposals to find the trace of the vehicles in
the upcoming sequences of frames.
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D. Sudha, J. Priyadarshini
The rest of the work is organized as follows: Sect. 2
explains the pictorial representation of existing related
works which has been investigated to solve the multiple
vehicle detection and tracking. Section 3 explores the
proposed method for detection and tracking methodologies
to solve real-time traffic on the road. Section 4 discusses
the experimental and comparative results of existing and
proposed models of all vehicles in motion, Sect. 5 deals
with the conclusion, and Sect. 6 delivers about the future
scope and research directions.
2 Related work and issues
In general, three-tier categorical methods of object detec-
tion methods are considered for solving a motion detection
problem, namely background subtraction, Lu et al. (2018),
optical flow and feature-based approaches; there exists a
huge necessity in terms of accuracy and less computational
time. In this work, we use only a monocular camera to
capture real-time Indian traffic input videos on road. To
reduce the computational time and expensive sensors,
proceed with the single monocular handheld camera of
high quality of 30 frames per second. There might be
several challenges for the elimination of background noise,
segmenting the objects from foreground nature along with
aptly fit training models for detection algorithm with less
error rate as depicted in Fig. 1.
There has been an increasing challenge due to the
environmental factors like rainy, sunny, night, cloudy in
nature along with occlusion, collision, size of the object,
shape, oscillations in camera and so on. Researchers have
been proposed many algorithms and methods to solve these
various problems in different novels and ideas to be
implemented to get the promising results of such real-time
traffic problems to solve the higher-end level applications
like traffic monitoring, lane estimation, and prediction,
occlusion and collision.
Motivated by these real-time problems and thereby
increasing a huge number of fatality rates every year
because of the numerous challenges on road like varying
illumination changes, collision, lane following, etc. lead to
a high amount of road traffic accidents in every year. To
solve this real-time problem, most of the scientists and
researchers, and young researchers (Satzoda and Trivedi
2016) have focused toward to detect the collision and
prevent accidents on road using a powerful sensor on toll to
indicate a text message globally to prevent accident and
reroute to other way by near 500 meters from the toll gate
on road (Rangesh et al. 2016). The following studies have
been found and investigated various research experts in the
fields of ITS to solve real-time traffic problems by deep
learning, machine learning and artificial intelligence
An intelligent multiple vehicle detection and tracking using modified vibe algorithm and…

Fig. 1 Illustration of average

road accidents in the Indian road
traffic

techniques and advanced algorithms, and new proposed OYOLO is faster than YOLO; detection of multiple cars
novels exist. Existing methods and techniques are listed in becomes more accurate and robust for pedestrians, cars and
Table 1. humans walking on the road. The limitation of this work is
Aleksa et al. (2018) used YOLO (Alahi et al. 2014) the lack of multiple different environments. The proposed
process to spot instantaneous vehicles on movement. The method overcomes the solutions of multi-type multiple
trained system identified categories of vehicles, namely vehicle detection of EYOLOv3 which uses squared error
car, truck, pedestrians, traffic signs and traffic lights. loss for each bounding box and class loss by changing the
Analysis of outcome showed experimental results were weights in each epoch.
working well for identifying vehicles and speedily vehicles
very near to the camera. The failure of detection occurred
for two circumstances: for heavy traffic area and when 3 Proposed work and algorithms
there was occlusion (Kim and Jeong 2014). Xu et al. (2018)
proposed a recognition scheme for vehicles which was 1. Multiple vehicle detection
captured from an aerial view with the background infor-
Our proposed method consists of 5 different layers,
mation, but due to this, the vehicle appeared small. To
namely preprocessing layer, feature extraction layer,
solve this problem, combined YOLO for dense topology
training layer, testing layer and vehicle detection layer. The
and optimal pooling was used. The experiments showed
preprocessing layer consists of more than 50,000 images of
that the model can extract features of the minor object. Lin
positive and negative images in a dataset. A positive image
et al. (2018) (Tian et al. 2014) developed vehicle counting
is the one that matches the target object of car, bus, truck
for diverse locations and directions. This developed system
and so on. The negative image is one that does not match
can give high accuracy if the video has a good lighting
with the target object of apart from vehicles like balls,
environment.
leaves, streetlights, etc. Then, feature extraction is the most
Tao et al. (2017) constructed vehicle identification for
important step for object detection in order to select the
images on road using an optimized YOLO method. In this
right features for achieving promising solutions to our
method, the last two fully connected layers are detached
problem. It is the process of extracting eight high-level and
and added an average pool layer (Li et al. 2014). The
low-level features such as length of the object, width/height
simulation results shows that the accuracy and precision
of the object, side mirrors of an object, front doom mirror
rate is higher than single object detection. Gustaffson
along with wind screening glass of each vehicle. After
(2018) (Kim and Jeong 2014) worked on linear and non-
selecting the right feature, training is needed for system
linear motions. For linear motion, Kalman filter is used,
automation using combined three-tier levels of features and
and for nonlinear motion extended Kalman filter [EKF] is
classifiers were used Haar ? AdaBoost, HOG ? SVM,
utilized (Ćorović et al. 2018; Xu et al. 2018). The EKF uses
LBP ? Fast R-CNN, while selecting the most relevant
the Jacobian matrix to linearize the nonlinear models, and
attributes in a feature selection to a new reduced set of
also tracking performance is improved. Unscented Kalman
features in feature extraction.
filter collects a set of well-known annotated samples using
a nonlinear function for calculating the mean and covari-
3.1 Preprocessing layer
ance of tracking multiple vehicles (Gustaffson 2018) (Lin
and Sun 2018).
In this preprocessing layer, a training set is created which
Single kinds of multiple vehicle tracking on road is
contains a huge collection of data for the system training to
mainly based on a set of random weights and particle filter
detect objects automatically in a given input video. Then,
(Tao et al. 2018). Ravikumar et al. (2017) developed
the system is trained with a large number of positive and
OYOLO for the target detection system on road, and

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Table 1 Existing methods and techniques from various literature works and proposed solutions
Author names Methods and work Benefits Limitations Solutions

Kellner et al. Sparse and low-rank
(2016) Bo- constraint model by
Haochen contextual regularization
et al. approach for motion
detection
Bhaskar et al. Coupled region-based
(2015) convolutional neural
Zhipeng networks for accurate
Deng et al. vehicle detection
Hassannejad Bagging(bootstrap
et al. (2015) aggregating) mechanisms
Yingfeng used for scene adaptive
Cai et al. vehicle detection algorithm
based on a composite deep
structure
Battiato et al. Active learning and symmetry
(2015) method which achieved
Ravikumar multipart vehicle detection
Satzoda by Haar-like features with
AdaBoost classifier for fully
and partially visible rear
view of vehicles
Zhao et al. Generalized Haar filter-based
(2015) object detection for car-
Keyu Lu sharing services by sparse
et al. window techniques
Wang Single object detection using
et al.(2015) template matching from
Tie Liu large database collection
Provides better performance
of single scenario-based
moving object detection
Detect small objects
accurately and faster than
multiple objects in real time
Yielded better accuracy and
system automation is
missing, i.e., lack of training
and testing to the system for
system automation to detect
objects
Yields promising accuracy for
the same kind of multiple
vehicles in terms of multiple
car detection
Reduced the number of input
patches, but there are a
better accuracy and less
error rate of 6% in terms of
multiple patches of input
samples
Works well only for multi-
scale contrast background
for single object detection
rather than multiple objects
Not suitable for multiple
scenarios moving object
detection environment
Limited with the features and
lack of comparisons with
the datasets of private and
public
Generates target training
samples with confidence
scores, cannot adapt with
the automation of moving
vehicle detection on road
Multiple different kinds of
vehicle detection are not
considered
Limited properties are
chosen such as memory,
efficiency and lack of high-
level and low-level features
and no training
mechanisms exist
Limited target objects and
environments
Extraction of multiple
features on all vehicles and
achieves multiple moving
vehicle detection by
classifiers and machine
learning approaches
Our Proposed method
evaluates with 7 different
datasets of 3 standards and 4
self-datasets of day, night,
sunny mode of multiple
moving vehicle detection
with tracking that exists
Solutions to these problems,
our methods are feature
extraction by manual
handheld and trained to the
system for automation to
detect the 3- and 4-wheeler
objects detections in a
global manner
To eliminate these existing
problems, the proposed
method focuses on multiple
cars, bus, lorry and auto-
detection and tracking using
hybrid classifiers and
machine learning along with
filtering techniques that
exist
Manual feature extraction
along with the creation of
dataset and model is
proposed for front and rear
view of detecting and
tracking multiple moving
vehicles on the road
Performs in multiple targets
of car, bus, auto and truck
along with tracking in linear
as well as nonlinear motion
also done

negative images to detect the target object and system available for a wide set of applications, the supervised
which enable it to learn the object and extract its features in learning method has been chosen as it is applicable to the
unique and derivative characteristics. Once the training is object tracking system. The system is further subjected to a
successful, it goes to the testing for accuracy of training strong classifier, namely the adaptive boost classifier
methods and results of detected objects are recorded. If it (Fig. 2).
matches with the target object, then the training is validated
and verified successfully. If not, then the training set has to
be embedded with more data in order to retrieve more
details about the object and then detect it. The artificial
intelligence technique of system learning using the Viola–
Jones method which is formally known as the Haar training
is used. Though there is a variety of learning types Fig. 2 Adaptive boost classifier

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An intelligent multiple vehicle detection and tracking using modified vibe algorithm and…

3.2 Feature extraction The particle filter algorithm is used to track the moving
objects in both nonlinear and non-Gaussian situations. In
It is the problem of working with a large set of data in both the conditions, the moving objects in a video sequence
terms of accuracy. There exists a problem of constructing a can be tracked optimally. The steps involved are
model with a large set of data and parameters in terms of
(1) Feature extraction using SIFT
memory and computation power. When higher the
(2) Undecimated wavelet transform
parameters, there might be a computation process which is
(3) Particle filter for multiple objects tracking
also high. Feature extraction is the most prominent task in
the field of AI, machine learning, especially for classifi- 2. EYOLO v3 vehicle detection algorithm
cation of multiple objects in real-time environments.
The EYOLOv3 predicts MTMV detection using darknet
This research work mainly proceeds with the five dif-
frameworks. It involves the convolution layer, maxpooling
ferent parameters of objects length, width/height, side
layer, average connected softmax layer and output layer.
mirrors, number of tires and windscreen glass partitioning
YOLOV3 is used for predicting the bounding box and also
in the front side of the vehicle. Manual feature extraction is
calculates the objectiveness score of predicted vehicles.
done and then trained with a haar features combined with
YOLOv3 is modified to accept an extra training input of
discrete adaboost classifier forms a single strong classifier.
distance and also predict it. It uses a single convolutional
neural network to predict the bounding box together with
3.3 Object detection layer
the class probabilities. Figure 4 represents that the given
input image is split into an S 9 S grid, and within every
Once the training phase gots over then testing phase is
grid, m bounding boxes are generated. The network outputs
executed for checking the target object detection is correct
the class probability and offsets values for each of the
or not. Therefore the 3-tier object detection models were
bounding boxes, and the bounding boxes with the proba-
used for detecting the multiple vehicles in motion.
bility larger than the threshold will represent the objects
The important factor is for selecting the right features,
detected. Enhanced YOLO(EYOLO)v3 neural network is
because feature selection plays an important role in mul-
very simple and fast. It processes images in real time at 35
tiple object tracking. In general, the most desirable prop-
frames per second, and the EYOLO algorithm is also dis-
erty of a visual feature is its uniqueness so that the objects
cussed for multiple vehicle detection in real-time images or
can be easily distinguished in the feature space. Feature
videos.
selection is closely related to the object representation as
depicted in Fig. 3.

Fig. 3 Object detection engine

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Algorithm 1: Enhanced You Only Look Once(EYOLO)v3

Step 1: Input image, I, Detection of Interest, Output Layer

Step 2: Split I into S x S grid on the input image and then pass to the pooling layer

Step 3: The network outputs the class probability and offsets values for each of the bounding boxes

Step 4: if (class prob >confidence)

4.1 Find the bounding box with class label

4.2 Nested if( Bounding box < out of class label)

4.3 Goto if

4.4 Else if (region > bounding box)

4.5 Class= 1; //presence of vehicles

4.6 Class = 0;// absence of vehicles

4.7 End else if

4.8 End

Step 5: Plot the bounding box of finding the target region of interest

Step 6: find average mean, ROI.

Fig. 4 Enhanced YOLO v3 vehicle detection

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An intelligent multiple vehicle detection and tracking using modified vibe algorithm and…

3. Multiple vehicle tracking The above algorithm and Fig. 5 show the process of
tracking is done for different kinds of multiple front view
Tracking is done by template matching techniques. A
vehicles such as a car, bike, truck and bus in a motion of
template is like a memory about the object. The filter bank
day-, nighttime environments with varying illumination
tracks the object using its position and velocity. It is to link
conditions. And also, we have worked with different
a sequence of object blobs together across image frames in
aspects of motion like linear and nonlinear motion; existing
order to determine the identity and location of several
approaches are modified into a new algorithm with the
objects at different points in an image sequence (blob
proof of time complexity O (log n) times. For a single
tracking). To achieve this, it is useful to describe each
iteration, it takes n times of logarithmic analysis to track in
object blob by a set of attributes, for example, its position,
motion. The updated technique is modified with various
velocity, and size, collectively called its state.
parameters and existing methods. The novelty of our pro-
Tracking the object’s true position is done by tracking
posed method and algorithm is for parameter tuned with
its state using a Kalman filter bank. This uses information
different multi-modalities like vehicle length, width/height,
from the current blob and the previous object state to create
side mirror, number of tires, front wind screening glass and
an estimate of the object’s new state. The combination of
shape which leads to accurate training model than the
previously estimated object dynamics and current mea-
existing state of the art.
surements helps eliminate noise from blob measurements
In step 4, each iteration exists with the update of each
that would otherwise lead to erratic object tracking.
target of its position and velocity along with the direction
Algorithm 2 discusses the previous position and velocity of
of lane following so that our method improves the overall
a vehicle that allows us to give a rough estimate of its
accuracy rate is 5 times of average than the existing art of
current position. When combining this estimate with
82.6%.
additional information of its state, tracking accuracy can be
overall improved.

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Fig. 5 Multiple vehicle tracking layer using RPN
4 Experimental analysis
To verify the proposed method, various experiments were
carried out on both continuous data and real images. Fig-
ure 6 depicts the error plots of using the Kalman filter. A
graph is plotted for both the real observation of the sine
wave and the estimated observation. The observations are
predicted and estimated using the linear Kalman filter with
time in the X-axis and amplitude in the Y-axis. In the linear
Kalman filter, the estimated observation is almost similar
to the real observation. It predicts the behavior of moving
objects more accurately than the EKF and UKF. But it
cannot be applied to real-world moving objects since their
process equation tends to be nonlinear.
4.1 Data collection
The data were collected and then used to validate the
simulation model of collecting day and night moving
vehicles. Input videos are collected between 10–12 am and
6–7 pm on Indian highways and traffic roads. The private
dataset provides the collection of positive and negative
images of.jpeg images of equal size; then, there is a chance
to get the respective input videos of vehicle speed, motion,
and acceleration and input size of trajectories length and
velocity. Foreground detection is done by using the
removal of background noise using a background sub-
traction method. Finally, velocity and acceleration values
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D. Sudha, J. Priyadarshini
are decomposed into vectors combining the x-axis and
y-axis components.
4.2 Test and result comparison
Experimental results were performed on a high-speed Intel
Core i5 processor of a standard desktop computer using
MATLAB (R2016a). A total of 2,46,345 images have been
used for training and testing. All these images were col-
lected on 10 different input videos of capturing on the road
of day and night. We have a collection of 10 input videos
of day and night moving vehicles of car, bike, bus, lorry,
etc. In our proposed algorithm, multiple vehicle tracking
has been done for bike, car, bus and lorry in a day- and
nighttime dataset and videos. Table 2 represents the com-
putation time calculation of different datasets with the
efficiency of detection and tracking results that exist. The
graph shows the computational time complexity of speed
and velocity of each vehicle, respectively. Various graphs
were plotted for efficiency Vs calculating the speed of
tracking and detecting, respectively.
Multiple vehicle detection using enhanced YOLO v3 for
the sunny and rainy dataset is tabulated in Table 2.
The experimental result using MYOLOv3 for detection
tested on the night and fog dataset is tabulated in Table 3,
and Fig. 6 shows the F-test comparison of estimated versus
actual result attained in the statistical test with 10 different
input videos of 30 frames/s.
An intelligent multiple vehicle detection and tracking using modified vibe algorithm and…

Table 3 Experimental results of multiple vehicle detection using

EYOLO
Datasets Average accuracy (%) Precision Recall

Night dataset 97.5 0.80 0.74

Fog detection 96.9 0.87 0.72

lorry in motion as a total count of moving vehicles as

mentioned in density in a sunny environment of daytime
motion. Figure 8 represents the multiple vehicle detection
of tracking vehicles, respectively; for example, the car is
bounded with black color rectangle representation and
other objects are marked with orange color and bus is
marked with green color and in linear motion on road.
Computational time analysis is tabulated in Tables 4 and
5. To calculate the speed analysis of different resolutions
for Multiple object tracking of object size and speed of
different video resolution of datasets and F-test score is
computed as shown in Table 6.
The speed of the proposed model is analyzed by sub-
jecting the system to different datasets where the object
size was variable in nature. On average, it was found that
the speed of the tracking (Table 6) in the case of the single
object was found to be as high as 13 fps. This is an
approximately 46% increase in speed in comparison with
the approach proposed (Tian et al. 2014).
Figure 8 represents that the multiple vehicle detection in
the front view of a standard dataset of benchmark KITTI
found on the results of proposed model achieves 92.6% in
Fig. 9 true positive rate than the existing state of the art
which has been discussed in a literature survey of various
works related to multiple detection and tracking.
Comparing existing multiple hypothesis tracking algo-
rithms with MVTA, the accuracy, precision and recall are
tabulated in Table 7.
Figure 10 represents the overall performance analysis of
Fig. 6 Mean error plot using Kalman and unscented Kalman filter multi-type and multiple vehicle(MTMV) detection and
bank tracking, and the accuracy is 97.69% improved 5% of
greater accuracy than existing techniques.
Table 2 Experimental result of multiple vehicle detection using
IVIBE
Dataset Accuracy (%) Precision Recall 5 Conclusion
Sunny dataset 98.5 0.82 0.86
The inference of the proposed work is concluded with the
Rainy dataset 96.7 0.78 0.68
different vehicle detection and tracking which clearly
estimates the information about the object region with the
help of machine learning, collection of the system object
model and attained a different dataset of multiple vehicle
Figure 7 represents the results of multiple vehicle detection and tracking by particle and extended Kalman
detection in private datasets 1 and 2 compared with the filtering techniques. The primary objective of this research
benchmark dataset of DETRAC of multiple cars, bus and work is to detect and track MTMV in motion and also to

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Fig. 7 Multiple vehicle detection in daytime motion in private datasets 1 and 2

Fig. 8 Multiple vehicle tracking of daytime video in linear motion

Table 4 Performance analysis of multiple vehicle detection methods Table 5 Average computational time for existing filters and proposed
with benchmark datasets CKFA (in seconds)
Techniques Accuracy (%) Precision Recall Kalman filter Particle filter Proposed CKFA

IVIBE 97.6 0.82 0.76 3.25 2.86 1.84

MYOLOv3 98.9 0.88 0.78
KITTI 92.2 0.76 0.74
DETRAC 94.1 0.81 0.69
Table 6 Speed analysis for multiple object tracking
Dataset Video resolution Object size Speed (fps) F-test

increase the accuracy, precision and recall rates using I 420 9 240 282 9 92 9–11 0.0076
various methodologies. The main contribution of this work II 640 9 480 130 9 105 13–15 0.0082
is as follows: The important contribution is the detection of III 640 9 480 120 9 55 12–15 0.0078
MTMV in motion using IVIBE, MYOLO and finding the
MTMV in a sequence of frames. Using proposed

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An intelligent multiple vehicle detection and tracking using modified vibe algorithm and…

Fig. 9 Multiple vehicle

detection in sunny video

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 D. Sudha, J. Priyadarshini

Fig. 9 continued

Table 7 Comparative results of

Technique Accuracy (%) Precision Recall
multiple vehicle tracking using
CKFA Multiple hypothesis tracking algorithm 92.7 0.80 0.72
Proposed MVTA 95.6 0.92 0.82

Fig. 10 Overall performance

analysis of MTMV detection
and tracking

algorithms, the improved accuracy is 96.8% than the
existing method. The next contribution is tracking MTMV
using CKFA and MVTA, and the accuracy is 95.6%
achieved than existing methods. The private dataset is
collected 2-h real-time videos in highways using a high-
resolution camera and tested with 10 different private
datasets including different weather conditions such as
sunny, rainy, night and fog. The benchmark datasets KITTI
and DETRAC were taken from the source and for com-
parisons made with the private and public datasets and
results are shown in experimental results section. The
proposed method yields a higher accuracy rate and reduces
the minimal error rate shown in the performance analysis
of MTMV detection and tracking.

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An intelligent multiple vehicle detection and tracking using modified vibe algorithm and…
Data availability We used our own data
Compliance with ethical standards
Conflict of interest All authors state that there is no conflict of
interest.
Human and animal rights Humans/animals are not involved in this
work
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