A Method for Identifying Specific Vehicles Using Template Matching

Koji YAMAGUCHI", Yasushi NAGAYA", Koji UEDA*,

Hiroyuki NEMOTO**, Makoto NAKAGAWA**

* Nagoya Electric Works Co., Ltd.

29- 1 Mentoku, Shinoda, Miwa-cho, Ama-gun, Aichi 490- 1294, Japan
** Tokyo Metropolitan Police Department
2- 1-1 Kasumigaseki, Chiyoda-ku, Tokyo 100-8929, Japan
E-Mail : yamaguti@nagoya-denki.co.jp
Abstract

However, the route buses converge with ordinary vehicles

during a right turn, ultimately exposing the buses to traffic
congestion. A possible countermeasure is to employ a
priority signal control system at the intersection, which
prolongs the green light or shortens the red light in
accordance with the timing in which the public transport
vehicles reach the intersection. In order to effect this signal
control, it is essential to identify the public transport
vehicles.
This vehicle identification technology can be defined as
one which specifies the uniqueness of the vehicle at a
specific point on the road. This technique can be positioned
to be in a field called "vehicle identification" [I].
Technically speaking, the vehicle identification process can
be broadly divided into two areas: one that employs roadvehicle communication, and the other that employs image
processing technology [2]. The basic concept of the former
is to use beacons installed on the road to receive the unique
ID signal that is emitted by the particular vehicle. Because it
is essential for this method to maintain a device on-board
the vehicle, the effectiveness of this method depends greatly
on the diffusion of the on-board device. On the other hand,
the latter method uses pictures sampled by the television
camera installed on the road for recognizing the vehicles'
shapes, colors, or license plate numbers [2]. This paper is
based on the latter, which employs image processing
technology, and which does not require an on-board device.
The vehicle identification method employing image
processing technology that was used in the past was a
vehicle number recognition method that targets the license
plate numbers of the automobiles [ l ] [2] [ 3 ] [4] [ 5 ] . The
recognition algorithm used by this method can be broadly
divided into the following stages: "license plate detection",
"character extraction", and "character recognition" [2].
However, to be able to recognize the characters including
the name of the Local Land Transport Office with which the
vehicle is registered, the "character recognition" stage
requires a high level of recognition technology, which poses
a cost issue. However, since our system is based on signal
control that is effected on the destinations of the route buses,
the intended purpose can be achieved as long as the route
numbers that are displayed at the top front area of the route

A countermeasure for relieving traflc congestion is to

employ a priority signal control system at the intersection,
and in order to effect this signal control, it is essential to
identify the public transport vehicles. As for the methods for
identifying vehicles, while an image processing method for
recognizing vehicles by reading the license plate numbers
has already been put into practical use, there is no
precedence of its application to priority signal control.
Therefore,focusing on priority signal control of route buses,
we proposed a method for identifying the individual route
numbers of the route buses. Considering the ease of
processing, we based this method on a template matching
process that targets route numbers. However, with this
method, the correlation values fluctuate greatly due to the
changes in the external environment, which poses the
problem of greatly reducing the judgment precision i f
simple threshold values are used.
This paper describes the identification method using the
above-mentioned template matching process and its
problems, and proposes an identification method that uses a
new recognition algorithm for solving those problems.
Furthermore, to verify the recognition precision of this
method, we carried out an application on an actual road,
which resulted in an accuracy rate of 99.6%, which is
sufficient for practical use.

1. Introduction
Traffic volume has been increasing in recent years,
leading to chronic congestion, and the resultant deterioration
of the environment is creating grave societal concerns. For
this reason, the conversion of the principal means of
transport from private to public vehicles can reduce the
volume of traffic, and giving priority to those public
transport vehicles will be an effective measure for easing
traffic congestion. The previous means of designating
priority was accomplished by providing a bus-priority lane
in which the movement of ordinary vehicles was prohibited.

-80-7803-4975-X/98/$10.00 0 1999 IEEE

buses are recognized in a reliable manner. Therefore, for the

purpose of recognizing these route numbers, this paper
describes a template matching method that we adopted for
matching the images sampled by the television camera with
the templates. However, due to the changes in the external
environment, an extremely large amount of patterns appear
on the sampled image, causing the correlation values to
fluctuate greatly. This resulted in a problem of greatly
affecting the judgment precision if judgment was made
based on a simple threshold value.
This paper, which targets route buses as the vehicles to
be identified, describes a method for identifying route buses
using a template matching process and the problem it poses.
An identification method that uses a new recognition
algorithm for solving those problems is also proposed.
Furthermore, to verify the recognition precision of this
method, we carried out an application by installing a
television camera and processing equipment on an actual
road. the results of which are also described herein.

Television Camera

ground line

12m
(a) Geometry

2. Television Camera Installation Conditions

and Sampling Image Characteristics

(b) Sampling Image

Generally speaking, the sampling of images for the

purpose of vehicle identification is effected using the
geometry shown in Figure 1 (a), in which a television
camera is installed above the vehicle lane. The sampling
image is as shown in Figure 1 (b). Within this sampling area,
the search area can be designated at will.
As evident from this image, for the purpose of vehicle
recognition, targeting route numbers instead of license plate
numbers offers the following advantages:
( 1 ) As shown in Figure 1 (c), there is practically no
influence of occlusion even in traffic congestion.
(2) Detection is made simpler because the route numbers
use characters that are simpler than those of the license plate
numbers.
For the reasons given above, we decided to configure the
identification method by rendering the route numbers, which
can be detected easily, as the identification object. Table 1
shows the specifications of the television camera and lens
that were used.
Table 1
Television Camera and Lens SDecifications
Item
Television Camera
1/3-inch CCD
Image Device

-. ..............................................................

(c) Sampling image during traffic congestion

Figure 1. Television camera installation condition

3. Route Bus Identification Method

3.1. Template Matching Process Targeting Route
Numbers
The portion of the image containing the route number of
the route bus is selected beforehand from the image that has
been sampled by the television camera of the sampling
system shown in Figure 1 (a). Thus, a template image that
becomes the reference for comparison is created and stored
in memory. Figure 2 shows an example of a template image.
Incidentally, this template image contains 32 x 32 pixels.

2: 1 Interlace

Figure 2. Example of a Template Image

Item

Lens

Using this template image, the image obtained by the

television camera of the sampling system shown in Figure 1
(a) becomes stored in the image memory, and a continuous
search is made by the template matching method to find
whether a similar image exists within the search area.

-9-

However, the recognition algorithm described above led

to detection error and misrecognition due to the following
reasons:
(1) Changes in the size of the identification object
depending on the timing of the sampling of the image.
( 2 ) Changes in contrast due to different colors of the
identification object.
(3) Changes in the brightness of the identification object due
to the changes in the external environment.
Next, we will describe the details of these changes.

The search area can be designated at will, and in the

example shown in Figure 3, this area is shown in the white
frame.

3.2. Problems in Template Matching

Figure 3. Search Area

Next, we will describe the correlation value that can be
obtained by template matching using normalized cross
correlation.
Correlation value Rfg (m,n) can be obtained by the
following formula.
M

( I ) Changes in the size of the identification object

depending on the timing of the sampling of the image.
As shown in Figure 5, the size of the images of the
identification object that have been sampled cyclically
changes with the movement of the vehicle. Therefore, a
variance has been created in the correlation value obtained
by template matching, leading to the problem of detection
errors.

2 g ( i , j ) f ( i + m, j

+ n>

Where g is the template image, and f is the input image.

Further, M and N are respectively the number of pixels in
the X and Y directions of template image g [6][ 7 ] .
The greater the value (closer to l.O), the better is the
matching with the template image.
In accordance with the basic method described above, the
recognition algorithm used in the identification of route
buses is summarized below.
The image that has been sampled on a realtime basis by
the television camera and the template image of the route
number that has been prepared in advance are compared.
The correlation value is then calculated using formula (I),
and if the value is higher than the threshold value that was
set in advance, the vehicle is judged to be the specified route
bus. Figure 4 shows a flow chart of this process. For the
purpose of this application, "57" is used as the specified
route number.

Figure 5. Changes in the size of the

identification object
(2) Changes in contrast due to different colors of the
identification object.

If different colors are used for the background of the

identification object, the contrast changes in the sampled
image of the identification object. This created a variance in
the correlation value obtained by template matching, leading
to the problem of detection errors.
(3) Changes in the brightness of the identification object

due to the changes in the external environment.

Due to the changes such as weather conditions, the
position of the sun, the time of day, as well as the internal
illumination of the route number display panel, an extremely
large number of patterns could appear on the sampled image,
thus causing the correlation value obtained by template
matching to fluctuate greatly. Furthermore, even when we
prepared several template images for various types of
conditions, fluctuations appeared in the correlation values as
shown in Figure 6 (a) and (b). In this case, we prepared 10
template images, and indicated the maximum correlation
value among them. Figure 6 (a) shows an example of the
fluctuation in the matching correlation value obtained by
comparing the input image of route number 57, which is the
identification object, with the template image of route
number 57. Figure 6 (b) shows an example of the fluctuation
in the matching correlation value obtained by comparing the
input image of route number 51, which is similar to the

the template image of

the route number.

Judged to be the

Figure 4. Flow Chart

-io-

identification object, with the template image of route

number 57. In Figure 6, the vertical axis indicates the
correlation value, and the horizontal axis indicates the
quantity of vehicles.
For example, in terms of route number 57, which is the
object of the present application, if the threshold value is set
to 0.8, detection errors of two vehicles (A, B) occur as
shown in Figure 6 (a). In terms of route number 51 with a
different destination, the misrecognition of three vehicles (C,
D, E) occurs due to the similarity of the numbers, as shown
in Figure 6 (b). Therefore, when many similar images exist,
such as with route numbers, judgment based on simple
threshold values alone could not properly distinguish the
fluctuations in the correlation values, resulting in the
problems of detection error of identification objects and
misrecognition of images that are similar to the
identification objects.

11111 1 2 1 1

Quantityof vehicles(units)

(a) Route Number 57

I

I 1 I3

I C 17

1Y

21 13

Quantity of vehicles(units)

(b) Route Number 5 1

Figure 6. Fluctuations in the Correlation Value

Due to the Changes in the External
Environment
Next, we will describe an identification method that uses
a new recognition algorithm in order to resolve these
problems.

3.3. New Recognition Algorithm Using a Relative

Comparison of Correlation Values
The identification method based on the previous
recognition algorithm led to detection error and
misrecognition in the presence of many similar images, such
as in the case of the route numbers of buses, when only
simple threshold values were used for judgment. This is in
spite of having prepared several template images in advance
to accommodate the changes in the size of the identification
object (which were created by the timing in which the object
was sampled), the changes in the color of the identification

-11-

object, as well as the changes in the external environment.

As a new recognition algorithm that resolves these problems,
we adopted an identification method based on the relative
comparison of the correlation values. To prove that this
method is less affected by the changes in the external
environment and provides a sufficient identification
performance in terms of similar images, data is provided and
the identification method based on the recognition algorithm
is described as follows.
The identification method based on the previous
recognition algorithm exhibited fluctuations in the
correlation values as shown in Figure 7 (a) and (d). Figure 7
(a) shows the fluctuation of the correlation value targeting
route number 57, which is the identification object. Figure 7
(d) shows the fluctuation of the correlation values obtained
by a matching process in which route number 5 1, which is
similar to the identification object, is compared to template
images of route number 57.
Next, Figure 7 (b) and (e) show the results of the
matching processes in which the input images obtained
under the same conditions given above are compared to
template images of route number 51, which has a similar
image. Figure 7 (b) shows the fluctuation of the correlation
value targeting route number 57, which is the identification
object. Figure 7 (e) shows the fluctuation of the correlation
value targeting route number 51, which is similar to the
identification object. In Figure 7 (a), (b), (d), and (e), the
vertical axis indicates the correlation values, and the
horizontal axis indicates the quantity of vehicles.
In the data given above, Figure 7 (a) and Figure 7 (b), as
well as Figure 7 (d) and Figure 7 (e) are compared
respectively.
First of all, in terms of the input image of route number
57, which is the identification object, its correlation value to
the template image of route number 57 is rendered as A
(Figure 7 (a)), and its correlation value to the template
image of route number 51 is rendered as B (Figure 7 (b)).
When both are compared, it becomes evident that the
correlation value A, which indicates the correlation to the
template image of route number 57, is constantly greater.
Furthermore, in terms of the input image of route number
51, which is similar to the identification object, its
correlation value to the template image of route number 57
is rendered as C (Figure 7 (d)), and its correlation value to
the template image of route number 51 is rendered as D
(Figure 7 (e)). When both are compared, it becomes evident
that the correlation value D, which indicates the correlation
to the template image of route number 51, is constantly
greater. Thus, "correlation value A - correlation value B"
and "correlation value C - correlation value D" are shown
graphically in Figure 7 (c) and (0,respectively.
In Figure 7 (c), the vertical axis indicates "correlation
value A - correlation value B", and the horizontal axis
indicates the quantity of vehicles. In Figure 7 (f), the vertical
axis indicates "correlation value C - correlation value D",
and the horizontal axis indicates the quantity of vehicles.
From these results, it is evident that the relationships

21

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11

Quantity of vehicles(units)

21

I1

31

41

51

Quantity of vehicles(units)

21

I1

JI

51

(c) Correlation Value A - Correlation Value B

(b) Correlation Value B

(a) Correlation Value A

I1

Quantity of vehicles(units)

I
n.2)
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i;

010

5 nn)

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21

41

01

81

101

121

Quantity of whicles(units)

(d) Correlation Value C

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21

61

81

in1

12

._.."...__."__..I..."

(e) Correlation Value D

21

41

61

81

101

Quantity of vehicles(units)

Quantity o f vehicles(units)

...,,"

....l..l..l

.........

l2]
.......

(f) Correlation Value C - Correlation Value D

Figure 7. Relative Comparison of Correlation Values

to say, while the correlation values themselves fluctuate in
accordance with conditions such as the brightness of the
environment, the size relationship of the correlation values
remains constantly stable at {correlation value to the
template image of the object route number} > {correlation
value to the template image of the similar route number).
Therefore, instead of rendering the size of the correlation
value as the object, template images of the object route
number and template images of the similar route number are
prepared and a relative comparison is made between the
respective correlation values. Thus, it becomes possible to
extract the route bus with the object route number in a stable
manner. Because this process is not affected by the size of
the correlation value, it can sufficiently accommodate
variances in the correlation values created by fluctuations in
the environment.
Figure 8 shows an identification method that uses a new
recognition algorithm based on the results given above.
Furthermore, Figure 8 also shows a simple comparison of
the size of the correlation values in the initial stage, which
enables a rough separation of the noises from the
identification object.

(-START )
-1
I

The television camera samples an image.

The image is matched to a single template

image of the identification object.
I

threshold value?
The image is matched to the several template
images of the identification object that have

The image is matched to the several template

images that are similar to the identification
object that have been prepared =
Correlation Value B

Judged to be the object vehicle.

4. Verification of Recognition Precision

4.1. Verification Method

END

Figure 8. Flow Chart of New Recognition

Algorithm
"correlation value A - correlation value B > 0", and
"correlation value C - correlation value D < 0" stand. This is

- 12-

To verify the recognition precision of the recognition

algorithm proposed in this paper, we carried out an
application by installing a television camera and processing
equipment on a main road in Mitaka, Tokyo.
During this application, the route buses making a right
turn at the intersection in which signal control is to be
effected have been rendered as the objects of vehicle

identification, and route number 57, which is displayed at

the front top of these route buses, has been rendered as the
identification object. The method given in Figure 8 is
executed.

4.2. Verification Results

Table 2 shows the recognition results of the route buses
by weather (clear, cloudy, rainy), which have been obtained
from the record of the application lasting 119 days
excluding Sundays and holidays, from 7:OO to 9:OO AM.

Table 2
Recognition Results of Route Buses
Object
Recognized
Accuracy
Vehicles
rate (%)
(units)
(units)
Clear

Total

1079

1075

99.6

The above results indicate a high accuracy rate that has

been achieved in all weather conditions, regardless of
whether it was clear, cloudy, or rainy. During the rain, the
accuracy rate was 100%. As evident from these results, it
has been proven that the identification method with the
recognition algorithm proposed in this paper is hardly
influenced by the changes in the external environment and
offers a high accuracy rate. Furthermore, it has been proven
that this method offers sufficient identification performance
in terms of similar images. The error of four vehicles among
the 1,079 vehicles sampled was caused by the sunlight
reflecting on the portion bearing the route number of the
buses.

5. Summary and Conclusions

As described thus far, we took the approach of
recognizing the route numbers that are displayed at the front
top area of the route buses, based on the signal control of
the destination of the route buses. We also introduced a
template matching method in which template images of the
route numbers are compared to the images sampled by the
television camera, as a method for identifying the route
numbers of the buses. However, due to the changes in the
external environment, an extremely large amount of patterns
appear on the sampled image, causing the correlation values
to fluctuate greatly. This resulted in a problem of greatly
affecting the judgment precision if judgment was made
based on a simple threshold value.
To solve this problem, we proposed an identification
method that uses a new recognition algorithm that relatively
compares the fluctuations of the correlation values of the
object image and the similar image. Furthermore, to verify
the recognition precision of this recognition algorithm, we
carried out a long-term application lasting 119 days by

- 13-

installing a television camera and processing equipment on

an actual road. As a result, we were able to achieve a high
accuracy rate of 99.6%, proving that this method is hardly
influenced by the changes in the external environment.
Furthermore, it has been proven that this method offers
sufficient identification performance in terms of similar
images.
The characteristics of this method are summarized below:
(1) There is practically no influence of occlusion.
(2) Compared to the previous vehicle number recognition
method, the recognition algorithm is simpler, enabling a
reduction in processing time and making the equipment
more compact.
(3) It is hardly influenced by the changes in the external
environment.
(4) Enables simple distinction of similar images.
(5) It is possible to construct a system at a low overall cost.
At this time, because the signal control of the specified
vehicles was limited to 7:OO to 9:OO AM, we did not conduct
a nighttime verification. Considering the wider application
of this system, it is necessary to conduct a nighttime
verification in the future. To achieve a high level of
recognition precision under various conditions, we plan to
further our research by conducting verifications on vehicle
driving speeds or under environmental conditions such as
snow.

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