This method first use the kalman filter to predicate the search areas of the matching objects, then match the edge in correct areas to track the vehicles.

• 该方法首先采用卡尔曼滤波，预测目标匹配搜索区域，然后再在搜索区域中利用边缘匹配精确定位目标，大大减小了匹配的计算量。