Extended Feature Descriptor and Vehicle Motion Model with Tracking-by-Detection for Pedestrian Active Safety

The percentage of pedestrian deaths in traffic accidents is on the rise in Japan. In recent years, there have been calls for measures to be introduced to protect vulnerable road users such as pedestrians and cyclists. In this study, a method to detect and track pedestrians using an in-vehicle camera is presented. We improve the technology of detecting pedestrians by using the highly accurate images obtained with a monocular camera. In the detection step, we employ ECoHOG as the feature descriptor; it accumulates the integrated gradient intensities. In the tracking step, we apply an effective motion model using optical flow and the proposed feature descriptor ECoHOG in a tracking-by-detection framework. These techniques were verified using images captured on real roads. key words: Pedestrian Active Safety, Tracking-by-detection, ECoHOG, Particle Filter, Vehicle Motion Model