An Improved Object Detection and Trajectory Prediction Method for Traffic Conflicts Analysis


  • Lu Yang School of Computer Sciences, Universiti Sains Malaysia
  • Ahmad Sufril Azlan Bin Mohamed School of Computer Sciences, Universiti Sains Malaysia
  • Majid Khan Bin Majahar Ali School of Mathematical Sciences, Universiti Sains Malaysia



near-miss, object detection, object tracking, trajectory prediction


Although computer vision-based methods have seen broad utilisation in evaluating traffic situations, there is a lack of research on the assessment and prediction of near misses in traffic. In addition, most object detection algorithms are not very good at detecting small targets. This study proposes a combination of object detection and tracking algorithms, Inverse Perspective Mapping (IPM), and trajectory prediction mechanisms to assess near-miss events. First, an instance segmentation head was proposed to improve the accuracy of the object frame box detection phase. Secondly, IPM was applied to all detection results. The relationship between them is then explored based on their distance to determine whether there is a near-miss event. In this process, the moving speed of the target was considered as a parameter. Finally, the Kalman filter is used to predict the object's trajectory to determine whether there will be a near-miss in the next few seconds. Experiments on Closed-Circuit Television (CCTV) datasets showed results of 0.94 mAP compared to other state-of-the-art methods. In addition to improved detection accuracy, the advantages of instance segmentation fused object detection for small target detection are validated. Therefore, the results will be used to analyse near misses more accurately.


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How to Cite

Yang, L., Mohamed, A. S. A. B., & Ali, M. K. B. M. (2023). An Improved Object Detection and Trajectory Prediction Method for Traffic Conflicts Analysis. Promet - Traffic&Transportation, 35(4), 462–484.