Real-time tracking of intersections in image sequences of a moving camera

The tracking of inner-city intersections under realistic conditions, i.e. dense traffic, increases the number of artefacts, like occluded or distorted objects, compared to the tracking of free country roads or highways. This requires the best possible evaluation of all visible parts of the intersection, as well as of all available sensor data, and the use of as much information as possible about the geometry and relative motion in the intersection with respect to our experimental vehicle. Although occlusion of parts of an intersection by other vehicles has not yet been taken into account, the approach described here proves to be sufficiently reliable to track inner-city intersection models in real time.