In the vast research field of intelligent transportation systems, the problem of detection (and recognition) of environment objects, for example pedestrians and vehicles, is indispensable but challenging. The research work presented in this paper is devoted to stereo-vision based method with pedestrian detection as its application (a sub-part of the French national project “LOVe”: Logiciels d’O...

For many pedestrian detectors, background vs. foreground errors heavily influence the detection quality. Our main contribution is to design semantic regions of interest that extract the foreground target roughly to reduce the background vs. foreground errors of detectors. First, we generate a pedestrian heat map from the input image with a full convolutional neural network trained on the Caltec...

This paper describes a binocular vision-based pedestrian recognition System. The basic components of pedestrians are first located in the image and then combined with a SVM-based classifier. This poses the problem of pedestrian detection and recognition in real, cluttered road images. Candidate pedestrians are located using a subtractive clustering attention mechanism. A distributed learning ap...

Safety is the most important to the mobile robots that coexist with human. There are many studies that investigate obstacle detection and collision avoidance by predicting obstacles’ trajectories several seconds into the future using mounted sensors such as cameras and laser range finder (LRF) for the safe behavior control of robots. In environments such as crossing roads where blind areas occu...

—The pedestrian inertial navigation systems are generally based on Pedestrian Dead Reckoning (PDR) algorithm. Considering the physiological characteristics of pedestrian movement, we use the cyclical characteristics and statistics of acceleration waveform and features which are associated with the walking speed to estimate the stride length. Due to the randomness of the pedestrian hand-held ha...

Pedestrian detection in the surroundings of a vehicle is highly desirable to avoid dangerous traffic situations. Typical vision-based pedestrian detection algorithms on mobile cameras suffer from the lack of a-priori knowledge on the object to be detected. The variability in the shape, pose, color distribution, and behavior affect the robustness of the detection process. A novel vision-based sy...

Most of the commercial nighttime pedestrian detection (PD) methods reported previously utilized the histogram of oriented gradient (HOG) or the local binary pattern (LBP) as the feature and the support vector machine (SVM) as the classifier using thermal camera images. In this paper, we propose a new feature called the thermal-position-intensity-histogram of oriented gradient (TPIHOG or T π HOG...

We propose an estimation method of pedestrian detectability considering the driver’s visual adaptation to illumination change. Since it is important for driver assistance systems to determine if a driver is perceiving a pedestrian or not, estimation of pedestrian detectability by the driver is required. However, previous studies do not consider drastic illumination changes that degrades the det...

For an automotive pedestrian detection radar system, fast-ramp based 2D range-Doppler Frequency Modulated Continuous Wave (FMCW) radar is effective for distinguishing between moving targets and unwanted clutter. However, when a weak moving target such as a pedestrian exists together with strong clutter, the pedestrian may be masked by the side-lobe of the clutter even though they are notably se...