e-ISSN: 2582-5208

International Research Journal of Modernization in Engineering Technology and Science

( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:04/Issue:06/June-2022 Impact Factor- 6.752 www.irjmets.com
A VIDEO BASED VEHICLE DETECTION, COUNTING AND
CLASSIFICATION SYSTEM
Mahesh Suryawanshi*1, Akash Ghadage*2, Shubham Ingwale*3,
Prathamesh Sutar*4, Shubham Mudshingkar*5, Prof. R.S. Nejkar*6
*1,2,3,4,5Students, Department Of Computer Science & Engineering, Sanjeevan Engineering
And Technology Institute Panhala, Maharashtra, India.
*6Assistant Professor, Department Of Computer Science & Engineering, Sanjeevan Engineering
And Technology Institute Panhala, Maharashtra, India.
ABSTRACT
Traffic monitoring on road needs to be done, the counting of the number of vehicles passing the road is
necessary. It is more emphasized for highway transportation management in order to prevent efforts.
Therefore, it is necessary to develop a system that is able to counting the number of vehicles automatically.
Video processing method is able to counting the number of vehicles automatically. This system includes
processes of video acquisition, frame extraction, and image processing for each frame. This project has a system
of vehicle counting on wide road. This system employs of background subtraction and morphology methods on
gray scale images for vehicle counting. This presents a developed system which achieves vehicle detection by
using background image subtraction algorithm.
Keywords: Vehicle Dataset, Image Segmentation, Vehicle Detection, Vehicle Counting.
I. INTRODUCTION
The increasing number of vehicles makes a lot of pressure on roads capacity and infrastructure. Accordingly,
the traffic management is too difficult and the traffic hazards increases at a high rate, moreover it causes a huge
loss of life and property due to the road accidents. Vehicle detection systems play an important role to reduce
the harmful side effects of traffic, as a part of many traffic applications such as road traffic control, traffic
response system, traffic signal controller, lane departure warning system, automatic vehicle accident detection
and automatic traffic density estimation. Image processing methods are able to process video files to detect
moving objects. The field of image processing, especially the method of object tracking is already widely used to
detect and classify all sorts of moving objects. The advantages of this system are to calculate the number of
vehicles automatically by using a camera device. With this system will get data in real time and can be done for
monitoring the density of traffic. Moving vehicles detection is usually carried out by using background image
subtraction techniques. The key behind this kind of techniques is to first build a background model from a
sequence of images in order to find the moving vehicles from the difference between that background
estimation and the current frame. The weakness of this system is its accuracy is very dependent on the
illumination, with good illumination this system will have a very good accuracy. However, if the illumination is
not good, as at night, the accuracy of this system will decrease significantly.
II. RELATED WORK
Various approaches were made to develop such systems that can detect, count and classify the vehicles and can
be used for traffic surveillance in intelligent transportation systems. This section covers the discussion about
such systems and the knowledge about the methods used to develop such systems. Tursun, M and Amrulla, G
[4] proposed a video based real-time vehicle counting system using optimized virtual loop method. They used
real time traffic surveillance cameras deployed over roads and compute how many vehicles pass the road. In
this system counting is completed in three steps by tracking vehicle movements within a tracking zone called
virtual loop. Another video-based vehicle counting system was proposed by Lei, M., et al. [5]. In this system
surveillance cameras were used and mounted at relatively high place to acquire the traffic video stream, the
Adaptive background estimation and the Gaussian shadow elimination are the two main methods s that were
used in this system. The accuracy rate of the system depends on the visual angle and ability to remove shadows
and ghost effects. The system’s incompetency to classify vehicle type is the core limitation of the system. Bas et

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al. proposed a video analysis method to count vehicles [10] based on an adaptive bounding box size to detect
and track vehicles in accordance with estimated distance from the camera. The Region of Interest (ROI) is
identified by defining a boundary for each outbound and inbound in the image. Although the algorithm is
improved to deal with some weather conditions it is unable to track vehicles when they change their directions.
Mithun, N.C., et al proposed a vehicle detection and classification system using time spatial image and multiple
virtual detection line [6]. A two-step K nearest neighborhood (KNN) algorithm is adopted to classify vehicles via
shape invariant and texture-based features. Experiments confirm the better accuracy and low error rate of
proposed method over existing methods since it also considers the various illumination conditions.
Habibu Rabiu proposed a vehicle detection and classification for cluttered urban intersection [11]. In this
system background subtraction and Kalman filter algorithm are used to detect and track the vehicles and
Linear Discriminant Analysis classifier is used for proper classification of vehicles.
Detection of vehicles in a video-based traffic surveillance system is first and very important phase as it greatly
impacts the other algorithms such as tracking and classification of the vehicles hence an accurate detection and
segmentation of the foreground moving object is very important. Many of the techniques are used for
foreground detection like frame differencing [12]. Frame differencing can be considered as the simplest
foreground detection and segmentation method as it is based on the close relationship among the sequence of
motion images.
A. Suryatali and V.B. Dharmadhikari in [25], proposed a Computer Vision based vehicle detection that counts
and also classifies the vehicles in to heavy and light weight vehicles; object detection is accomplished by making
use of Kalman filter for background subtraction and then OpenCV library is used finally to detect the object in
processed frame. Nilakorn et al. [26], proposed vehicle detection and counting prototype which uses different
steps for background subtraction and object detection then uses CV techniques such as thresholding, hole-
filling and adaptive morphological dilation to remove noise and enhance the foreground objects in particular
frame from video. Proposed system provides limited functionality for the objects appearing in detection zone if
they are occluded or small.
III. PROPOSED METHODOLOGY
The system could be used for detection, recognition and tracking of the vehicles in the video frames and then
classify the detected vehicles according to their size in three different classes. The proposed system is based on
three modules which are background learning, foreground extraction and vehicle classification as shown in fig.
1. Background subtraction is a classical approach to obtain the foreground image or in other words to detect
the moving objects.

Fig.1. Block diagram of proposed vehicle detection, counting and classification system.
A. Background Learning Module
This is the first module in the system whose main purpose is to learn about the background in a sense that how
it is different from the foreground. Furthermore, as proposed system works on a video feed, this module
extracts the frames from it and learns about the background. In a traffic scene captured with a static camera
installed on the road side, the moving objects can be considered as the foreground and static objects as the
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background. Image processing algorithms are used to learn about the background using the above-mentioned
technique.
B. Foreground Extraction Module
This module consists of three steps, background subtraction, image enhancement and foreground extraction.
Background is subtracted so that foreground objects are visible. This is done usually by static pixels of static
objects to binary 0. After background subtraction image enhancement techniques such as noise filtering,
dilation and erosion are used to get proper contours of the foreground objects. The final result obtained from
this module is the foreground.
C. Vehicle Classification Module
The third and the last module in the proposed system is classification. After applying foreground extraction
module, proper contours are acquired. Features of these contours such as centroid, aspect ratio, area, size and
solidity are extracted and are used for the classification of the vehicles.
IV. DETAILED METHODOLOGY
The first step of the proposed system is to grab a data video on which we want to perform the classification.
After video selection, ROI is defined. ROI needs a careful human supervision because region of interest and
imaginary line plays important role in classification. After ROI is defined, the system performs series of tasks
i.e., applying background mask, subtracting mask, performing binary threshold, morphology using erosion and
dilation, median blur, applying masked data to the frame, convert frame to gray scale. Contours are detected
after these operations. Once contours are detected; system analyses the moments of the contours, marks the
detected contours and centroid is calculated. If calculated centroid is in the range of the diagonal, system moves
towards further operation for classification else system will be redirected towards the detection of contours
again. The last step is the classification; the system classifies the vehicles with two different methods i.e., using
SVM and with the CC.
The classification using SVM is used in which SIFT features are calculated for the contours and used as input to
the SVM. Three types of vehicles are identified by SVM which are Low Transport Vehicle (LTV), Medium
Transport Vehicle (MTV) and Heavy Transport Vehicle (HTV). SVM classifies the vehicle using the features
extracted with the help of SIFT and then corresponding variables are incremented according to the output i.e.,
LTV, MTV and HTV. In addition, classification of the vehicle’s using CC is done. Once the centroid calculated is in
the range of diagonal; the properties of contours are extracted. The features extracted are compared with the
assumed values and output is calculated. In the end the corresponding variables are incremented according to
the output.
A. Region of interest
ROI is a particular portion of an image on which an operation is to be performed. ROI gives the flexibility to just
work with in a particular region instead of manipulating the whole image. In proposed system, selection of
region of interest is very important to reduce the false positives in the detection and classification of vehicles.
Selection of ROI is pretty simple, once the video is started, the user has to press the “I” key on the keyboard to
activate the input mode. Afterwards the user uses his mouse to select the four points on the video which defines
the region of interest. Once selected, pressing of any key on the keyboard selects the region of interest, crops it
and shows the new video feed on only that region. Fig. 2 shows ROI selection input mode. Notice the four green
dots on the screen, these are the points defining the ROI and were placed using mouse clicks.

Fig.2. Region of interest selection input mode.

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B. Background subtraction
Proper background subtraction is a vital pre-processing step in creation of any visual surveillance system as the
accuracy of whole process of classification of the objects depends on it. The systems like visitor counter [27] in
which a static camera captures the video of people entering a building and the system could count the number
or a system where a camera captures the video of the vehicles on the road for the similar purpose.
The background subtraction could be an easy job if we already have an image of the background like the image
of the building or the road. In cases defined above, background image could be removed and foreground objects
could be obtained but most of the time the situation is varying. The backgrounds can be dynamic or initial
information of the scene might not be available. Furthermore, the background subtraction becomes more
difficult if the objects in the video also have shadows since they also move with the people or vehicles, then the
normal background subtraction will detect the shadows as foreground objects too.
Several algorithms have been introduced for the situations like that; some of them are implemented in OpenCV
such as Background Subtraction MOG [28] which use Gaussian distributions to create the model of the
background in the image. It uses about 3 to 5 Gaussian distributions for this purpose. Another background
subtraction implemented in OpenCV is called Background Subtractor GMG which is based on [27] and combines
the background image estimation segmentation.

Fig.3. Frame of video before and after subtraction of background.

The algorithm used in the implementation of proposed system is called backgroundSubtractorMOG2. It is based
on two studies [29] and [30] by Zikovic. One of the important features of this algorithm is that unlike [28] in
which the number of distributions for the creation of background model are defined, Background Subtractor
MOG2 uses an automated approach and selects an appropriate number of Gaussian mixtures for the pixel.
Furthermore, algorithm is also better at handling the illumination changes in the scene. The algorithm also
gives the ability to define if the shadow of the objects is to be detected or not. Note that the default settings of
the implementation are set to detect the shadows.
C. Contour extraction
Contours are the boundaries of the shape which are used for the shape detection and recognition. The accuracy
of the process of finding the contours can be defined as the canny edge detection performed on a binary image.
OpenCV provide cv2.findContours() method to find the contours.
D. Counting vehicles
Vehicle counting can be done by checking if the centroid of a vehicle has touched or crossed the imaginary line
in ROI. Imaginary line is the line that diagonally appears by connecting two ROI points. Once the centroid of a
vehicle in ROI crosses the imaginary line, the system counts the vehicle. From fig. 4, it is noticeable that when
centroid of vehicle touches the imaginary line in ROI, it increments in the variable "Total" and variable of
respective category.

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Fig.4. Increment in corresponding variables when vehicle centroid touches

imaginary line in ROI (Mask Applied)
E. Classification
The classification is done using two different methods in implementation of the system which are: i)
Classification using CC ii) BoF and SVM method.
1) Classification using Contour Comparisons
In this method, the contour properties such as solidity and area of the contour are extracted and compared with
already assumed values to determine whether the vehicle is LTV, HTV or MTV. The contours are basically all
connected pixels in an image. Once the background subtraction is performed and foreground objects are
detected; then contours of these foreground objects are detected.
We have used OpenCV’s find Contours () method to detect the contours of the foreground object. The method
gives a list of all the contours in the image. It is necessary to choose the biggest contour in the image. Hence, a
minimum limit on the width and height of the contours is defined so that bigger contours can be chosen. Once
these contours have been selected, a number of properties of these contours are extracted which can later be
used to classify the vehicles. Some of these properties are area, solidity, aspect ratio etc. Particularly, areas of
contours are focused which are compared to the assumed values of the vehicles.
First of all, a bounding box is drawn over the contour and its centroid are found which when intersects with the
imaginary line, the vehicles are detected and classification algorithm is triggered to classify the vehicles.
The following values are assumed:
If the area is between 500 and 8000, the vehicle is classified as LTV.
Classification of MTV and HTV is two-step process:
1. If area is between 500 and 125000 the vehicle could be either MTV or HTV depending upon the height.
2. If height of the vehicle is about its width (width-30 to width+30) it is classified as MTV else it is classified as
HTV.
2) BoF and SVM method
This is another method of classification which uses BoF along with SVM algorithm to classify the vehicles. The
BoF is based on the bag of words algorithm where each word corresponds to each feature of the image saved in
the bag. The SVM classifier is created with four classes which are LTV, MTV, HTV and Others. The LTV class
contains the features of the small vehicles, MTV contains the medium vehicles and HTV contains the big
vehicles, whilst others contain the vehicles that don’t fall into any class such as bikes etc. The images of all
vehicles are placed in the particular folders as defined above and the SVM classifier is trained over these
folders. Once the classifier is trained, it gives a file called BoF.pkl which is used in the code to test the classifier.
The system captures the SIFT features of the foreground objects and compares them with the already trained
SVM and classifies the vehicles into defined categories.
V. SIMULATION RESULTS
The proposed system is implemented on python, using the OpenCV bindings. The traffic camera footages from
variety of sources have been used and have found the implementation to be effective. Basically, it is divided into
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two parts: detection and classification. Five sample videos of different traffic scenes are used for comparison of
the system results with true values. Fig. 5 presents the comparison of total vehicles counted by both CC and BoF
and SVM methods with the true values. It is observable that CC method is showing smallest discrepancy with
counts of ground truth related to video 2 and counts related to video 1 are showing highest discrepancy. BoF
and SVM is depicting smallest variation with ground truth count related to video 3 and showing highest
variation with counts related to video 1. Fig. 6 to Fig. 10 compares the simulation results for the classification.
The proposed system classifies the detected vehicles into three categories i.e. LTV, MTV and HTV using two
different methods. First one deploys the contour area and assumed area of vehicles for the comparison and
second method deploys the BoF and SVM for classification. From fig. 6 to fig. 10, it is evident that in all the
videos; CC method classifies LTV, MTV and HTV very well as compared to BoF and SVM method except for video
3. The values of CC method are closer to ground truth values than BoF and SVM method. The results concerning
the classification errors of the both methods which are employed in the experiments for different video
sequences of road traffic are shown in Table I. From the table it is apparent that classification errors of CC
method are lower as compared to BoF and SVM method in all videos.

Fig.5. Comparison of original count and system count values of five videos.

Fig.6. Vehicle classification comparisons between original count, CC, SVM and
BoF methods in video

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Fig.7. Vehicle classification comparisons between original count, CC, SVM and BoF methods in video.

Fig.8. Vehicle classification comparisons between original count, CC, SVM and BoF methods in video.

Fig.9. Vehicle classification comparisons between original count, CC, SVM and BoF methods in video.

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Fig.10. Vehicle classification comparisons between original count, CC, SVM and BoF methods in video.
Table 1. Vehicle classification errors of CC, SVM and BoF methods
Ground Classification Error Classification Error
Truth Count % (CC) % (BoF and SVM)
Video 1 123 13 22.76
Video 2 229 1.3 2.6
Video 3 258 10.85 0.7
Video 4 235 4.25 10.6
Video 5 220 5.9 8.18
VI. CONCLUSION
The proposed solution is implemented on python, using the OpenCV bindings. The traffic camera footages from
variety of sources are in implementation. A simple interface is developed for the user to select the region of
interest to be analyzed and then image processing techniques are applied to calculate vehicle count and
classified the vehicles using machine learning algorithms. From experiments it is apparent that CC method
outperforms than BoF and SVM method in all results and gives more close classification results to the ground
truth values. Currently proposed system works with already captured videos but it can be modified to be used
for processing live video streams [4] by adding microcontrollers. One of the limitations of the system is that it is
not efficient at detection of occlusion of the vehicles which affects the accuracy of the counting as well as
classification. This problem could be solved by introducing the second level feature classification such as the
classification on the bases of color. Another limitation of the current system is that it needs human supervision
for defining the region of interest. The user has to define an imaginary line where centroid of the contours
intersects for the counting of vehicles hence the accuracy is dependent on the judgment of the human
supervisor. Furthermore, the camera angle also affects the system hence camera calibration techniques could
be used for the detection of the lane for the better view of the road and increasing the efficiency. The system is
not capable of detection of vehicles in the night as it needs the foreground objects to be visible for extraction of
contour properties as well as features for the classification using SIFT features [31]. The system could also be
improved for better accuracy using the more sophisticated image segmentation and artificial intelligence
operations.
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