In this paper, we address the problem of vehicle detection and tracking with low-angle cameras by combining windshield detection and feature points clustering, effectively fusing several primitive image features such as color, edge and interest point. By exploring various heterogenous features and multiple vehicle models, we achieve at least two improvements over the existing methods: higher detection accuracy and the ability to distinguish different vehicle types. Our experiments on real-world traffic video sequences demonstrate the benefits of feature fusion and the improved performance.
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