Vehicle Detection and Ranging Using Two Different Focal Length Cameras

Algorithm 1

The long-and-short focal length vehicle bounding box matching.

Input: Short focal length vehicle box ,

Long focal length vehicle box .

Output: matched with .

Zoom to :

, ,

, .

For each :

Calculating area of : .

For each :

Calculating area of : .

Calculating intersection between and :

   , ,

   ,

, where .

End for

Find the maximum IoU as the matched vehicle.

End for