System and method for detecting pedestrians using a single normal camera

• US 10,043,067 B2
• Filed: 12/03/2012
• Issued: 08/07/2018
• Est. Priority Date: 12/03/2012
• Status: Active Grant

• Current Assignee: Harman International Industries Incorporated (Samsung Electronics Co. Ltd.)
• Original Assignee: Harman International Industries Incorporated (Samsung Electronics Co. Ltd.)
• Inventors: Zhang, Yankun, Hong, Chuyang, Jiang, Ruyi, Zhou, Yun, Weyrich, Norman
• Primary Examiner(s): Kholdebarin, Iman K
• Application Number:
  US14/648,893
• Publication Number:
  US 20150332089A1
• Time in Patent Office: 2,073 Days
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 3/00 Geometric image transformations in the plane of the image
• CPC Class Codes: G06T 5/80 Geometric correction
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06V 10/247 by affine transforms, e.g. correction due to perspective effects; Quadrilaterals, e.g. trapezoids
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 40/103 Static body considered as a whole, e.g. static pedestrian or occupant recognition
• CPC Class Codes: H04N 23/61 based on recognised objects
• CPC Class Codes: H04N 23/635 Region indicators; Field of view indicators
• CPC Class Codes: H04N 25/60 Noise processing, e.g. detecting, correcting, reducing or removing noise

Abstract

The present application provides pedestrian detection system and method. A pedestrian detection method includes obtaining an image captured by a camera, and identifying a pedestrian candidate in the image. According to the method, the pedestrian candidate is confirmed by transforming the image into a top view image, calculating the actual height of the pedestrian candidate based on the top view image and extrinsic parameters of the camera, and determining whether the actual height of the pedestrian candidate is within a predetermined pedestrian height range.

Claims

1. A pedestrian detection method comprising:

obtaining an image captured by a camera;

identifying a pedestrian candidate in the image;

transforming the image into a top view image;

calculating an actual height of the pedestrian candidate based on the top view image and extrinsic parameters of the camera, the actual height of the pedestrian candidate comprising a full height of the pedestrian candidate extending from a head of the pedestrian candidate to a foot of the pedestrian candidate; and

determining whether the pedestrian candidate is a true positive by determining whether the actual height of the pedestrian candidate is within a predetermined pedestrian height range from a first height to a second height.

2. The method of claim 1, wherein the extrinsic parameters of the camera comprise pitch angle α

, yaw angle β

, and installation height h.

3. The method of claim 1, further comprising:

distortion correcting the image to obtain a corrected image; and

transforming the corrected image into the top view image.

4. The method of claim 1, further comprising:

generating an alert if the pedestrian candidate is determined to be a true positive.

5. The method of claim 1, wherein the first height of the predetermined pedestrian height range is 1 meter and wherein the second height of the predetermined pedestrian height range is 2.4 meters.

11. The method of claim 4, wherein the alert is a sound alert, and wherein the extrinsic parameters of the camera comprise pitch angle α

, yaw angle β

, and installation height h.

12. The method of claim 11, further comprising:

distortion correcting the image to obtain a corrected image; and

transforming the corrected image into the top view image.

13. The method of claim 1, further comprising presenting the true positive detected pedestrian to a vehicle driver via a display device in a vehicle by enclosing the pedestrian in the image.

14. The method of claim 13, further comprising controlling the display device to present a distance between the true positive detected pedestrian and the camera.

15. The method of claim 14, wherein the pedestrian is enclosed with a rectangle on the display device.

6. A pedestrian detection system comprising:

an output device; and

a processing device configured to;

obtain an image captured by a camera;

identify a pedestrian candidate in the image;

transform the image into a top view image;

calculate an actual height of the pedestrian candidate based on the top view image and extrinsic parameters of the camera;

determine whether the pedestrian candidate is a true positive by determining whether the actual height of the pedestrian candidate is within a predetermined pedestrian height range, the predetermined pedestrian height range including a non-zero lower limit and a non-zero upper limit that is different from the non-zero lower limit; and

control the output device to generate an alert if the pedestrian candidate is determined to be a true positive.

7. The system of claim 6, wherein the extrinsic parameters of the camera comprise pitch angle α

, yaw angle β

, and installation height h.

8. The system of claim 6, further comprising the camera.

9. The system of claim 6, wherein the processing device is further configured to:

distortion correct the image to obtain a corrected image; and

transform the corrected image into the top view image.

10. The system of claim 6, wherein the predetermined pedestrian height range is from 1 meter to 2.4 meters.

16. The system of claim 6, further comprising the camera, wherein the processing device is further configured to:

distortion correct the image to obtain a corrected image; and

transform the corrected image into the top view image.

17. The system of claim 16, wherein the predetermined pedestrian height range is from 1 meter to 2.4 meters, and wherein the alert is a sound alert.

18. The system of claim 6, further comprising a display device, wherein the processing device is further configured to present the true positive detected pedestrian to a vehicle driver via the display device in a vehicle by enclosing the pedestrian in the image.

19. The system of claim 18, wherein the processing device is further configured to control the display device to present a distance between the true positive detected pedestrian and the camera.

20. The system of claim 19, wherein the pedestrian is enclosed with a rectangle on the display device.