High-Level Fusion of Depth and Intensity for Pedestrian Classification

  • Marcus Rohrbach
  • Markus Enzweiler
  • Dariu M. Gavrila
Conference paper

DOI: 10.1007/978-3-642-03798-6_11

Part of the Lecture Notes in Computer Science book series (LNCS, volume 5748)
Cite this paper as:
Rohrbach M., Enzweiler M., Gavrila D.M. (2009) High-Level Fusion of Depth and Intensity for Pedestrian Classification. In: Denzler J., Notni G., Süße H. (eds) Pattern Recognition. DAGM 2009. Lecture Notes in Computer Science, vol 5748. Springer, Berlin, Heidelberg

Abstract

This paper presents a novel approach to pedestrian classification which involves a high-level fusion of depth and intensity cues. Instead of utilizing depth information only in a pre-processing step, we propose to extract discriminative spatial features (gradient orientation histograms and local receptive fields) directly from (dense) depth and intensity images. Both modalities are represented in terms of individual feature spaces, in each of which a discriminative model is learned to distinguish between pedestrians and non-pedestrians. We refrain from the construction of a joint feature space, but instead employ a high-level fusion of depth and intensity at classifier-level.

Our experiments on a large real-world dataset demonstrate a significant performance improvement of the combined intensity-depth representation over depth-only and intensity-only models (factor four reduction in false positives at comparable detection rates). Moreover, high-level fusion outperforms low-level fusion using a joint feature space approach.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Marcus Rohrbach
    • 1
    • 3
  • Markus Enzweiler
    • 2
  • Dariu M. Gavrila
    • 1
    • 4
  1. 1.Environment Perception, Group ResearchDaimler AGUlmGermany
  2. 2.Image & Pattern Analysis Group, Dept. of Math.and Computer ScienceUniv. of HeidelbergGermany
  3. 3.Dept. of Computer ScienceTU DarmstadtGermany
  4. 4.Intelligent Systems Lab, Fac. of ScienceUniv. of AmsterdamThe Netherlands

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