Figure 8From: Vehicle tracking and classification in challenging scenarios via slice samplingLikelihood example: (a) a single observation (2D bounding box); (b) a single vehicle hypothesis, where the 3D vehicle is projected into the rectified view (in solid lines), and its associated 2D bounding box is shown in dashed lines; (c) the relative distance between the 2D boxes (d m, x , d m, y ), and the intersection area a m, n .Back to article page