Moreover, according the information of vehicle corner, this paper adopts Kalman filter to track each moving vehicle and uses optic projective transform to partially resume the depth of these corners, which can check the match result.

• 同时，根据车辆的角特征点信息，将卡尔曼滤波器引入车辆跟踪算法中，并借助光学投影方程部分恢复待匹配角特征点的高度信息，以检查匹配算法的准确性。