Multi-cue Pedestrian Detection and Tracking from a Moving Vehicle
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This paper presents a multi-cue vision system for the real-time detection and tracking of pedestrians from a moving vehicle. The detection component involves a cascade of modules, each utilizing complementary visual criteria to successively narrow down the image search space, balancing robustness and efficiency considerations. Novel is the tight integration of the consecutive modules: (sparse) stereo-based ROI generation, shape-based detection, texture-based classification and (dense) stereo-based verification. For example, shape-based detection activates a weighted combination of texture-based classifiers, each attuned to a particular body pose.
Performance of individual modules and their interaction is analyzed by means of Receiver Operator Characteristics (ROCs). A sequential optimization technique allows the successive combination of individual ROCs, providing optimized system parameter settings in a systematic fashion, avoiding ad-hoc parameter tuning. Application-dependent processing constraints can be incorporated in the optimization procedure.
Results from extensive field tests in difficult urban traffic conditions suggest system performance is at the leading edge.
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- Multi-cue Pedestrian Detection and Tracking from a Moving Vehicle
International Journal of Computer Vision
Volume 73, Issue 1 , pp 41-59
- Cover Date
- Print ISSN
- Online ISSN
- Kluwer Academic Publishers
- Additional Links
- multiple visual cues
- pedestrian detection
- intelligent vehicles
- Industry Sectors