Multi-cue Pedestrian Detection and Tracking from a Moving Vehicle |
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Authors: | D M Gavrila S Munder |
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Affiliation: | (1) Machine Perception, DaimlerChrysler Research and Development, 89081 Ulm, Germany;(2) Intelligent Systems Lab, Faculty of Science, University of Amsterdam, 1098 SJ Amsterdam, The Netherlands |
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Abstract: | 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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Keywords: | multiple visual cues pedestrian detection intelligent vehicles |
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