Tracking of rotating objects using opencv

Question

I need to track cars on the road from top-view video.

My application contain two main parts:

1. Detecting cars on the frame (Tensorflow trained network)
2. Tracking detected cars (opencv trackers)

I have troubles with opencv trackers. Initially i tried to different trackers, but only MOSSE is fast enough. This tracker works almost perfect for case with straight road, but i faced problems with rotating cars. This situation appears on crossroads.

As i understood, bounding box of rotated object is bigger that bbox of horizontal or vertical object. As result bbox contains big part of static background and the tracker lose target object.

Are there any alternative trackers which can track contours (not bounding boxes)? Can i adjust quality of existing opencv trackers results by any settings or by adjusting picture?

Schema:

Real image:

Answer 1

您应该使用PCA方法，它可以计算检测到的物体的方向以及它面向的方向。您可以更改检测阈值以选择更像图片中汽车的对象（基于形状和颜色 - HSV 转换，在您的情况下为红色）。

主成分分析 (PCA) 简介的链接