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We address vehicle classification and mensuration problems using acoustic and video sensors. In this paper, we show how to estimate a vehicle's speed, width, and length by jointly estimating its acoustic wave-pattern using a single passive acoustic sensor that records the vehicle's drive-by noise. The acoustic wave-pattern is approximated using three envelope shape (ES) components, which approximate the shape of the received signal's power envelope. We incorporate the parameters of the ESdoi:10.1109/icassp.2007.366343 dblp:conf/icassp/CevherCM07 fatcat:v6rwl46izbh5zbzekudixl7twq