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Due to their capability of acquiring aerial imagery, camera-equipped UnmannedAerial Vehicles (UAVs) are very cost-effective tools for acquiring trafficinformation. However, not enough attention has been given to the validation ofthe accuracy of these systems. In this paper, an analysis of the mostsignificant sources of error is done. This includes three key components.First, a vehicle state estimation by means of statistical filtering. Second, aquantification of the most significant sources of error. Third, a benchmark ofthe estimated state compared with state-of-the-art reference sensors. This workpresents ways to minimize the errors of the most relevant sources. With theseerror reductions, camera-equipped UAVs are very attractive tools for trafficdata acquisition. The test data and the source code are made publiclyavailable.

Accuracy Characterization of the Vehicle State Estimation from Aerial Imagery