Quantitative comparison between trajectory estimates obtained from a binocular camera setup within a moving road vehicle and from the outside by a stationary monocular camera

The image sequence evaluation system Xtrack detects, initializes, and tracks images of moving road vehicles in videosequences recorded at innercity traffic scenes by a stationary camera. An additional model-based vision system Ximage tracks road models in video sequences recorded from within a driving vehicle. Both systems produce the same kind of results (vehicle trajectories). We have established a link between Xtrack and Ximage which enables us to quantitatively compare trajectories of the same vehicle obtained independently by both systems for the same observed traffic situation.