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Proceedings Paper

High-accuracy real-time pedestrian detection system using 2D and 3D features
Author(s): David R. Chambers; Clay Flannigan; Benjamin Wheeler
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Paper Abstract

We present a real time stereo-vision pedestrian detector implementation with a very high accuracy, the 2D component of which attains 99% recall with less than 10-6 false positives per window on the INRIA persons dataset. We utilize a sequence of classifiers which use different features, beginning with Haar-like features and a Haar-like feature implementation adapted to disparity images, and performing a final verification with Histogram-of-Oriented Gradient (HOG) features. We present a 2D Haar-like feature implementation that utilizes 2x2 kernel filters at multiple scales rather than integral images, and combines a quickly trained preliminary adaBoost classifier with a more accurate SVM classifier. We also show how these Haar-like features may be computed from a partially incomplete stereo disparity image in order to make use of 3-dimensional data. Finally, we discuss how these features, along with the HOG features, are computed rapidly and how the classifiers are combined in such a way as to enable real-time implementation with higher detection rates and lower false positive rates than typical systems. Our overall detector is a practical combination of speed and detection performance, operating on 544x409 image (10,425 windows) at a frame rate of 10-20fps, depending on scene complexity. The detector's overall false positive rate is less than 10-6, corresponding to about one false positive every 10-60s when testing on our non-training data. Additionally, the detector has shown usefulness for detecting other object types, and has been implemented for traffic cones, telephone poles, and vehicles.

Paper Details

Date Published: 15 May 2012
PDF: 11 pages
Proc. SPIE 8384, Three-Dimensional Imaging, Visualization, and Display 2012, 83840G (15 May 2012); doi: 10.1117/12.918406
Show Author Affiliations
David R. Chambers, Southwest Research Institute (United States)
Clay Flannigan, Southwest Research Institute (United States)
Benjamin Wheeler, Naval Surface Warfare Ctr. Dahlgren Div. (United States)


Published in SPIE Proceedings Vol. 8384:
Three-Dimensional Imaging, Visualization, and Display 2012
Bahram Javidi; Jung-Young Son, Editor(s)

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