An approach for the model-based tracking of vehicles in road traﬃc scenes has been examined in detail in an extensive analysis. As a consequence, more eﬀort was spend on the improvement of the initialisation phase. By applying knowledge, which is utilized in the tracking phase anyway, the initial estimation of the vehicle’s position could be determined more robust. For this, we exploit the shape of an vehicle as well as its shadow, which is cast on the street plane. A quantitative analysis veriﬁes the achieved improvements.