International Journal of Computer Vision

, Volume 63, Issue 2, pp 153–161

Detecting Pedestrians Using Patterns of Motion and Appearance



This paper describes a pedestrian detection system that integrates image intensity information with motion information. We use a detection style algorithm that scans a detector over two consecutive frames of a video sequence. The detector is trained (using AdaBoost) to take advantage of both motion and appearance information to detect a walking person. Past approaches have built detectors based on motion information or detectors based on appearance information, but ours is the first to combine both sources of information in a single detector. The implementation described runs at about 4 frames/second, detects pedestrians at very small scales (as small as 20 × 15 pixels), and has a very low false positive rate.

Our approach builds on the detection work of Viola and Jones. Novel contributions of this paper include: (i) development of a representation of image motion which is extremely efficient, and (ii) implementation of a state of the art pedestrian detection system which operates on low resolution images under difficult conditions (such as rain and snow).


pedestrian detection human sensing boosting tracking 


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Copyright information

© Springer Science + Business Media, Inc. 2005

Authors and Affiliations

  1. 1.Microsoft ResearchOne Microsoft WayRedmondUSA
  2. 2.Mitsubishi Electric Research LaboratoriesCambridgeUSA

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