Segmentation of moving vehicles based on map.

To segment vehicles in front of a moving vehicle in a road traffic scene, the paper proposes a segmentation algorithm. Since a noisy image produces unreliable features and degrades the detection and localization, selecting image primitives which are less sensitive to noise and represent the evidence for a vehicle is important. This is carried out by the probabilistic integration of image features based on maximum a posteriori (MAP) probability that combines the prior and likelihood probabilities using Bayes' rule.