The most standard image object detectors are usually comprised of one or multiple feature extractors or classifiers within a sliding window framework. Nevertheless, this type of approach has demonstrated a very limited performance under datasets of cluttered scenes and real life situations. To tackle these issues, LIDAR space is exploited here in order to detect 2D objects in 3D space, avoiding all the inherent problems of regular sliding window techniques. Additionally, we propose a relational parts-based pedestrian detection in a probabilistic non-iid framework. With the proposed framework, we have achieved state-of-the-art performance in a pedestrian dataset gathered in a challenging urban scenario. The proposed system demonstrated superior performance in comparison with pure sliding-window-based image detectors.


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    Title :

    Pedestrian detection based on LIDAR-driven sliding window and relational parts-based detection


    Contributors:


    Publication date :

    2013-06-01


    Size :

    3986577 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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