This paper presents a robust real time obstacle and pedestrian detection algorithm, which is capable of handling the challenges of stationary as well as moving objects, utilizing a single car mounted monochrome camera. First, the system detects obstacles above the ground plane by obtaining a "virtual stereo system" through the usage of inverse perspective mapping. A fast digital image stabilization algorithm is used to compensate erroneous detections whenever the flat ground plane assumption is an inaccurate model of the road surface. Finally, a low level pedestrian segmentation algorithm is developed to extract bounding boxes of potential pedestrians. Furthermore a novel approach called the Pedestrian Detection Strip is used to improve the calculation time by a factor of six compared to previous attempts. Experiments have been carried out by applying the proposed algorithm on prerecorded sequences as well as within a test vehicle and thus in a closed loop environment. The experimental results indicate a promising detection performance. Obstacles and pedestrians up to 50 meters away from the vehicle have been detected reliably at 64 frames per second on a 3GHz PC.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Real Time Object Detection Approach Applied to Reliable Pedestrian Detection


    Contributors:


    Publication date :

    2007-06-01


    Size :

    1044138 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    A Real Time Object Detection Approach Applied to Reliable Pedestrian Detection

    Ma, G. / Park, S.-B. / Ioffe, A. et al. | British Library Conference Proceedings | 2007



    Real-time vision based pedestrian detection

    Ma, Guanglin | Tema Archive | 2010


    Vision-based pedestrian detection -reliable pedestrian candidate detection by combining IPM and a 1D profile

    Ma, Guanglin / Park, Su-Birm / Muller-Schneiders, Stefan et al. | IEEE | 2007


    Real-time pedestrian detection with deformable part models

    Cho, Hyunggi / Rybski, Paul E. / Bar-Hillel, Aharon et al. | IEEE | 2012