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Onboard monocular pedestrian detection by combining spatio-temporal hog with structure from motion algorithm
Hua CS(华春生); Makihara, Yasushi; Yagi, Yasushi; Iwasaki, Shun; Miyagawa, Keisuke; Li, Bo
作者部门机器人学研究室
关键词Spatio-temporal Hog Pedestrian Detection Onboard Monocular Camera Structure From Motion
发表期刊Machine Vision and Applications
ISSN0932-8092
2015
卷号26期号:2-3页码:161-183
收录类别SCI ; EI
EI收录号20150200417160
WOS记录号WOS:000351462900002
产权排序1
摘要In this paper, we brought out a novel pedestrian detection framework for the advanced driver assistance system of mobile platform under the normal urban street environment. Different from the conventional systems that focus on the pedestrian detection at near distance by interfusing multiple sensors (such as radar, laser and infrared camera), our system has achieved the pedestrian detection at all (near, middle and long) distance on a normally driven vehicle (1–40 km/h) with monocular camera under the street scenes. Since pedestrians typically exhibit not only their human-like shape but also the unique human movements generated by their legs and arms, we use the spatio-temporal histogram of oriented gradient (STHOG) to describe the pedestrian appearance and motion features. The shape and movement of a pedestrian will be described by a unique feature produced by concatenating the spatial and temporal histograms. A STHOG detector trained by the AdaBoost algorithm will be applied to the images stabilized by the structure from motion (SfM) algorithm with geometric ground constraint. The main contributions of this work include: (1) ground constraint with monocular camera to reduce the computational cost and false alarms; (2) preprocessing by stabilizing the successive images captured from mobile camera with the SfM algorithm; (3) long-distance (maximum 100 m) pedestrian detection at various velocities (1–40 km/h). Through the extensive experiments under different city scenes, the effectiveness of our algorithm has been proved.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15663
专题机器人学研究室
通讯作者Hua CS(华春生)
作者单位1.The State Key Lab of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China
2.Department of Intelligent Multimedia, ISIR of Osaka University, Osaka, Japan
3.Honda R&D Co., Ltd, Wako, Japan
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GB/T 7714
Hua CS,Makihara, Yasushi,Yagi, Yasushi,et al. Onboard monocular pedestrian detection by combining spatio-temporal hog with structure from motion algorithm[J]. Machine Vision and Applications,2015,26(2-3):161-183.
APA Hua CS,Makihara, Yasushi,Yagi, Yasushi,Iwasaki, Shun,Miyagawa, Keisuke,&Li, Bo.(2015).Onboard monocular pedestrian detection by combining spatio-temporal hog with structure from motion algorithm.Machine Vision and Applications,26(2-3),161-183.
MLA Hua CS,et al."Onboard monocular pedestrian detection by combining spatio-temporal hog with structure from motion algorithm".Machine Vision and Applications 26.2-3(2015):161-183.
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