Onboard monocular pedestrian detection by combining spatio-temporal hog with structure from motion algorithm

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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
刊名	Machine Vision and Applications
	2015
卷号	26 期号:2-3 页码:161-183
关键词	Spatio-temporal HOG Pedestrian detection Onboard monocular camera Structure from motion
ISSN号	0932-8092
通讯作者	华春生
产权排序	1
中文摘要	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.
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000351462900002
公开日期	2015-02-04
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/15663]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 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.