Vehicle Type Classification in Urban Environments

International Journal of Advance Foundation and Research in Computer (IJAFRC)
Volume 2, Issue 12, December - 2015. ISSN 2348 4853, Impact Factor 1.317
Vehicle Type Classification in Urban Environments

Priyanka Chauhan*, Dharmveer Singh Rajpoot
prianca2809@gmail.com, drdharmveer16382@gmail.com
Department of Computer Science Engineering, Jaypee Institute of Information Technology, Noida, India
ABSTRACT
In the process of vehicle classification, data annotation and collection of data is a very time
consuming as well as costly task. Automatic image analysis is used to detect vehicles and they are
classified into several categories by using a vector, called vehicle observation vector, which is
constructed by the features, the size and the shapes of vehicles. The most popular application is
Intelligent Transportation System (ITS), it is especially used in vehicle behaviour analysis, traffic
flow monitoring, traffic surveillance, automatic vehicle detection, etc. There is a huge number of
vehicles in urban areas so it is very difficult to analyse the traffic flow by the data collected from
the roadside cameras. Occlusions can occur due to high density vehicles. There are many
algorithms which are proposed for the classification and pattern recognition, one of them is SVM
(Support Vector Machine) which gives the robust, effective and accurate technique. The most
compatible way to extend the SVM is to decompose an n-class problem, for which either of two,
the one versus one (OVO) or one versus all (OVA), approach is used. But there are some
difficulties in finding cars as there are the extra images covered at the back view of the vehicles so
we need to decompose the extra images from the required ones. The foreground segmentation is
done by using a background subtraction algorithm i.e. Gaussian Mixture Model (GMM).
Keywords: vehicle, classification, image analysis, Intelligent Transportation System.
I.
INTRODUCTION
The most important component in an Intelligent Transportation System (ITS) is monitoring the traffic. In
the process of vehicle classification, data annotation and collection of data is a very time consuming as
well as costly task. Annotation [1] is used to label vehicles, outlining the shapes and assigning the correct
classification, so that it could be used in classifying and performance evaluation. This approach is for
vehicle annotation for samples recorded from the urban traffic CCTV cameras. Automatic image analysis
is used to detect vehicles and they are classified into several categories such as car, motorcycle, van, and
bus by using a vector, called vehicle observation vector, which is constructed by the features, the size and
the shapes of vehicles. The initial class label is computed first by using unsupervised K-means clustering,
for each detected vehicle.
The most important component in an Intelligent Transportation System (ITS) is monitoring the
traffic which can be used to detect traffic length, illegal maneuvers, to estimate speed and flow, road
usage and so on.
The roadside CCTV cameras are used in many countries to enable the online monitoring of traffic and
classification of vehicles that would be used to support an Intelligent Transportation System (ITS).
Classification of vehicles is also very useful for the identification of the behaviour of vehicles.
Vehicle classification system provides the quantitative data for planners and managers for a road
traffic survey of traffic.
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In our active learning setting, the user is made to answer the query to get the desired output from the
given data, the labels y are withheld and can be purchased for a certain amount of virtual cash. The model
that is being predicted can be improved by the selection of example, from the given data set (training set)
through the learning machine. Active learning is a semi- supervised kind of learning.
K-means Clustering : K-means clustering is used to get the desired data objects. It is an iterative
unsupervised learning technique. First, randomly a number of clusters is selected from the given data
points. Then the objects having similar features are kept in one cluster and the objects in different
clusters have different features. This similarity and dissimilarity among elements of cluster is measured
by mean value. The objective of the k-means algorithm is to minimize the within cluster variability.
K
the number of clusters, it is an input parameter,
D = {t1, t2, ....., tn}: a data set containing n objects

Support Vector Machines (SVM): It give efficiency robustness and accuracy in the classification. SVM is
a binary classifier that can be adopted to handle multi-class classification tasks. The most compatible way
to extend the SVM is to decompose an n-class problem, for which either of two, the one versus one (OVO)
or one versus all (OVA), approach is used. It is related to new deterministic algorithm. The classification
is done by decision plane. The Support Vector Machine classifiers are used to classify the vehicles, that
can be SVM one versus one (OVO) or SVM one versus all (OVA).
Histogram of oriented gradients (HOG) is used for object detection as the feature descriptor. In this
process the image is divides into smaller regions to make cells of smaller pixels. HOG descriptor is mostly
used in human detection but here vehicle detection is done as it is similar to that classification.
Gaussian Mixture Model, is the superposition of Gaussian components which gives the better class of
density model than single Gaussian model. It is the most mature model for clustering and classification of
objects.
II. MAJOR PROBLEMS
Some of the problems are as follows:
Data collections and annotations are time consuming and costly tasks.
There is a huge number of vehicles in urban areas so it is very difficult to analyse the traffic flow by
the data collected from the roadside cameras.
Major problem is classifying the colour of the vehicles.
Detection of moving objects in the scene, during vehicle classification, to high level analysis.
Selected Problem
Detection of moving objects in the scene, during vehicle classification, to high level analysis.
III. LITERATURE SURVEY

In [2], the method for retrieving the exact image is proposed using histogram of oriented gradients and
support vector machines. The method consists of the modules which are detecting forground, and
tracking of objects, and classification of objects tracked. The cameras in the urban cities are installed at
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heights so it is very difficult to capture the clear image of those far small and unclear objects. Therefore
the region of interest (ROI) is decided so that the images can be captured for easier identification. SVM
classifier is used to identify the vehicle of particular type. And the ROI is clear and the result is more
accurate and efficient. The three modules are proposed to first find the moving objects on road from the
videos then track them in the second module from the detected results obtained in first module. Finally,
the third and last module is to classify the vehicle of different categories like car, bus, van, etc. Some
features such as license plate recognition, colour of vehicle etc cannot be classified as the functions are
not developed.
A. Foreground Detection and Object Tracking [3]
In this module, the foreground or background images pixels are removed by segmentation using
Gaussian Mixture Model of subtraction method. The pixels segments are divided into frames and two
consecutive foreground frames are used to classify and track the object. After segmentation, it becomes
easy to classify the image. The regions other than ROI are ignored to avoid the extra memory space
wastage and for better segmentation.
B. Classification of Vehicle
The final step is to classify the moving object. Classification is done by first filtering the images from
unwanted images by height, width and aspect ratio. Then the HOG descriptor is used to represent and
extract the feature of the survived objects. The size of the small and large vehicles are greater than 32 X
32 pixels so the segmented images are converted to 32 X 32 pixels frames. The moving objects are
tracked by collecting samples from each direction. The Support Vector Machine classifiers are used to
classify the vehicles in this module that can be SVM one-vs-one or SVM one-vs-all.
In [4], SVM (Support Vector Machine) It give efficiency robustness and accuracy in the classification. SVM
is a binary classifier that can be adopted to handle multi-class classification tasks. The most compatible
way to extend the SVM is to decompose an n-class problem, for which either of two, the one versus one
(OVO) or one versus all (OVA), approach is used. In this, the problem of classifying the colour of the
vehicle is resolved. The vehicles type and vehicle colour is determined automatically, from the recorded
video stream from the road side cameras. To save the hardware memory space and computation
complexity, the 8 bin colour histogram (YCbCr) as SVM vector is used. The SVM classifier encodes the
colour, size and shape properties of the feature vector of a foreground blob corresponding to the
segmented images of vehicles. There is the wind on streets because of which the images captures may not
be clear or they can be blurred or can be changed due to the strong sunlight and reflection of the shinier
surface. The computation time will be increased automatically if the number of bin is increased above a
number i.e. more than 8. Two methods are used in this study to classify the vehicles properly. The
methods used are as follows:
C. Colour Classification
To test the classification algorithm, the database from the Columbia Object Image Library (COIL) is taken
from which 4 different colours (red, yellow, blue, green) object images are selected. The database
consists of 80 views of each picture of 100 objects so in total it consists of 8000 images of 24 bits of 128 X
128 (RGB channels). The required objects are placed at a table and the images are taken from a fixed
view point. The below figure shows the samples images from the COIL
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Fig 1. Sample Images From The Database

D. Shape Classification
The shape of the vehicle is classified by the 2 type of classifiers of SVM ie OVO and OVA. The classified
objects are placed under the category based on classifier. Some parts may appear in different colour
which reflects the light due to the presence of strong sunlight. The size of the license plate is determined
so this problem of not recognising the license plate is also solved in this study. The aspect ratio, width,
length and area criteria are the important features for shape classification. Size is considered after
normalising the length and width of license plate. Support Vector Machine OVA is better than OVO, so we
choose OVA to reduce the complexity and same running time.
In [5], the vehicle detection is done by proposing a new method using the fusion of Histogram of Oriented
Gradients (HOG) and Causal Markov Random Field (MRF). Detecting vehicles is an interesting task using
such kind of algorithms and methods. So this method is divided into two steps. Firstly, images are taken
and sampled by using HOG-SVM. HOG plus SVM is used to get more simplified and optimised images from
the road side cameras. The images are taken in patches which are then arranged in second step which
used causal MRF to arrange the patched images obtained in step 1. Then the images are arranged in order
of likelihood-ratio. Two stage work flow of the algorithm used in this study is shown in the image below:
Fig 2. Work flow of the algorithm used
A. Feature Vectors
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The images are taken and some important features, which are necessary for classification, are selected
from the images. The HOG descriptor is used to get the sharp images in both the direction in the taken
images. Then the sharp images are normalised to a smaller pixels size and each images is divided into a
number of cells, size of each cell is 8 X 8. Normalization is done to improve the performance.
B. Classification
In this step, the appropriate classifier is decided by the object detector. The most popular and modern
classifier is then used for classification, i.e. support vector machine. SVM have completed many
challenges in classification of processing large datasets. The SVM divides the dataset by a hyper plane,
which divides the training data into the classes of particular type with maximum margin criteria. The
hyper plane is characterised by a decision function:
f(x) = sgn((w, (x))+ b),
where,
w is normal to the hyper plane,
w weight vector,
b a bias,
x samples which are currently tested,
(x) kernel function
IV. PROPOSED METHOD
I've proposed an algorithm for vehicle recognition system. This algorithm is a combination of criteria of
standard deviation and Contourlet transformation. As it has been proved, that the sizes of feature vectors
and the kinds of features are important in our recognition process. But because of the large coefficients of
Contourlet, we can have the disadvantages that the speed would be decreased. To get rid of the above
discussed problem, we can use standard deviation on its coefficients in all directions & sub-bands in the
local way. Now after performing this, the size of feature vector will be decreased to an extreme level.
Then, we perform the obtained final vector to three types of classifiers. The 3 kinds of classifiers which
are used to compare contains:1. SVM (one versus one)
2. K nearest-neighbour
3. SVM (one versus all).
Fig 3. Contorlet Transform Double Filter Bank
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The result we get will show the superiority to the SVM (one versus one) structure, associated with the
Contourlet data of preprocessing. The process for performing this algorithm is discussed below:
A. Normalization:
For all the images, it could be test set or training set, the size is to be normalized to 120120 pixels.
B. Feature extraction:
The feature extraction method consists of three stages.
Step 1: In this step, the extra images, captured in the backside view of the vehicle in the image, are
decomposed by contourlet transformation. After performing this transform, Contourlet coefficients in
different directions and various sub-bands, will be obtained as a result(for image 120120). As proved
before, the obtained coefficients include of complex values, so well get the normalization of Contourlet
coefficients.
Step 2: A useful property of the standard deviation is that it is expressed in the same units as the data.
For the extraction of best features, and decreasing the feature vector size for each picture, we perform
standard deviation criteria in various directions and different sub-bands of Contourlet coefficients matrix
and then reduce the dimension of feature vector.
Step 3: Then, well get 32 elements of feature vectors values from step 2 and we will normalize them in a
distance of 0 and 1.
C. Classification:
This is vehicle classification stage and the features from step 3 are used for the classification. The 3 kinds
of classifiers which are used are as follows:(1) SVM (one versus one) (2) K nearest-neighbour and (3) SVM (one versus all). Below is given the
structure of vehicle recognition algorithm is:
Support Vector Machine Classifiers can be use for classification and regression. SVM is based on
statistical learning theory. It is a group of unsupervised learning methods. And K-nearest neighbour
classifiers are used for vehicle type classification by the feature vector obtained from above process. The
nearest features are split into groups which are similar to features in same group and are very different
from features in different groups. Empirical risk of training set is the mean error rate so the SVM tries to
bind the risk to minimum thats why it focused on structural risk rather than empirical risk.
Images from backward
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Normalization
Contourlet Transform
Local standard
deviations in
scale & various
angels in
contourlet
coefficients
matrix
Standard Deviations
Classifiers
Fig 4. Recognition Process
V. EXPERIMENTAL RESULTS
Datasets
The right performance of this algorithm which is proposed is tested, for which weve examined 4 mostly
available classes of vehicles, that include woks wagon, pride, renault and hyundai. 400 images, from the
backside view of these vehicles, are included in the total data set. 240 images are in the training data set
and there are 70 images in test dataset.
To get feature vector, in this study, the SD on Contourlet coefficients in different directions and various
sub bands is pormed by us. In our experiments, the Contourlet transform that is used, decomposes an
image into m sub bands (m=1, 2, 3 ) using the '9-7' bi-orthogonal filters.
Quality Measures
SVM tries to bind the risk to minimum thats why it focused on structural risk rather than
empirical risk.
By doing normalization, we can reduce the dimension of the feature vector.
The right recognition rate of vehicles model is about 99% in this recognition system.
VI. IMPLEMENTATION RESULT

The output of the above proposed method is given in a table form. The table contains the recognition rate
of different classifying methods according to the pyramidal levels. The order of pyramidal levels, for
having the useful information, is level 4, 3, 2, 1.
Pyramidal Level
1
2
3
4
1, 2
Using SVM (OVO)

38%
73%
71%
94%
70%
Recognition Rate
Using KNN
24%
62%
70%
89%
59%
Using SVM (OVA)

18%
50%
62%
78%
42%
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2, 3
95%
89%
3, 4
99%
92%
2, 3, 4
90%
78%
1, 2, 3
82%
73%
1, 2, 3, 4
89%
78%
Table 1. Comparison of the performances of various methods
75%
81%
65%
60%
67%
As a result of this, the number of features will decrease from a very large number to 32 features only.
This is done by using standard deviation criteria in different sub bands and various directions. The
features are divided into 4 groups i.e. 2 to 4 which are related to pyramidal level 1, 5 to 8 which are
related to pyramidal level 2, 9 to 16 which are related to pyramidal level 3, 17 to 32 which are related to
pyramidal level 4. The result will show that the Support Vector Machine (one versus one) classifiers give
the best result among all. The difference between SVM(one versus one) and SVM(one versus all) is shown
evidently inefficient at the time of recognition process.
VII. CONCLUSION
We have used the backward views of vehicles, for creating the recognition process, to get the feature
vectors. Also a new algorithm is proposed which is a composition of contourlet Transform and Standard
Deviation criteria to get the contourlet coefficients matrix. This study also shown the comparison of
different type of classifiers. The 3 kinds of classifiers which are used to compare are:- SVM (one versus
one), K nearest-neighbor and SVM (one versus all). The obtained numerical experimental result proves
that SVM (one versus one) is the best classifier among all, associated with the contourlet data of preprocessing.
VIII. REFERENCES
[1]
Zezhi Chen, Tim Ellis: Semi-automatic annotation samples for vehicle type classification in urban
environments, IET Intell. Transp. Syst., Vol. 9, Iss. 3, pg. 240249, 2015
[2]
Yu-Chen Wang, Cheng-Ta Hsieh, Chin-Chuan Han, Kuo-Chin Fan: Vehicle Type Classification from
Surveillance Videos on Urban Roads, IEEE, pg. 266-270, 2014
[3]
L. Li, W. Huang, Y. H. Gu and Q. Tian, Foreground object detection from videos containing
complex background, ACM Int. Conf. Multimedia, pg. 2-10, 2003.
[4]
Nick Pears, Michael Freeman and Jim Austin: Road Vehicle Classification using Support Vector
Machines, IEEE, pg. 214-218, 2009
[5]
Satish Madhogaria, Paul M. Baaggenstoss, Marek Schikora Wolfgang Koch, Daniel Cremers: Car
Detection by Fusion of HOG and Causal MRF, IEEE Transaction on aerospace and electrical
systems Vol. 51, No. 1, pg. 575-590, 2015
[6]
V. Vapnik, An overview of statistical learning theory, IEEE Transaction on neural networks, vol.
10, No. 5, pg. 988-999, 1999.
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International Journal of Advance Foundation and Research in Computer (IJAFRC)