BrnoCompSpeed: Review of Traffic Camera Calibration and Comprehensive Dataset for Monocular Speed Measurement

In this paper, we focus on traffic camera calibration and visual speed measurement from a single monocular camera, which is an important task of visual traffic surveillance. Existing methods addressing this problem are hard to compare due to lack of a common dataset with reliable ground truth. Therefore, it is not clear how the methods compare in various aspects and what are the factors affecting their performance. We captured a new dataset of 18 full-HD videos, each around one hour long, captured at 6 different locations. Vehicles in videos (20 865 instances in total) are annotated with precise speed measurements from optical gates using LIDAR and verified with several reference GPS tracks. We provide the videos and metadata (calibration, lengths of features in image, annotations, etc.) for future comparison and evaluation. Camera calibration is the most crucial part of the speed measurement; therefore, we provide a review of the methods and analyze a recently published method for fully automatic camera calibration and vehicle speed measurement and report the results on this dataset in detail.