Pedestrian Detection with Stereo Vision

This paper presents a method of pedestrian detection for automobile applications, based on stereo vision. Vision based pedestrian detection presents a difficulty due to the diversity of appearances. The proposed method overcomes the difficulty mainly through the following two contributions. Firstly, employing four directional features with the classifier increases the robustness against small affine deformation of objects. Secondly, by merging classification and tracking, robustness against temporal change of appearance is improved when considering temporal continuity of classification score. The experiments, performed on approximately 16 minutes of video sequences, confirmed that the method can detect pedestrians with low false detection.

[1]  D.M. Gavrila,et al.  Vision-based pedestrian detection: the PROTECTOR system , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[2]  Kenji Iwata,et al.  Robust Facial Parts Detection by Using Four Directional Features and Relaxation Matching , 2003, KES.

[3]  Alberto Broggi,et al.  Pedestrian detection in infrared images , 2003, IEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683).

[4]  Xia Liu,et al.  Pedestrian detection and tracking with night vision , 2005, IEEE Transactions on Intelligent Transportation Systems.

[5]  Liang Zhao,et al.  Stereo- and neural network-based pedestrian detection , 2000, IEEE Trans. Intell. Transp. Syst..

[6]  Keiichi Yamada,et al.  Comparison between infrared-image-based and visible-image-based approaches for pedestrian detection , 2003, IEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683).

[7]  Hiroshi Hattori,et al.  Development of night-vision system , 2002, IEEE Trans. Intell. Transp. Syst..

[8]  Jan Giebel,et al.  Shape-based pedestrian detection and tracking , 2002, Intelligent Vehicle Symposium, 2002. IEEE.

[9]  Forouzan Golshani,et al.  Proceedings of the Eighth International Conference on Data Engineering , 1992 .

[10]  Theodoros Evgeniou,et al.  A TRAINABLE PEDESTRIAN DETECTION SYSTEM , 1998 .

[11]  Massimo Bertozzi,et al.  Shape-based pedestrian detection , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).