System and method for detecting pedestrians using a single normal camera
First Claim
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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.
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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.
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Citations
20 Claims
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1. A pedestrian detection method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 11, 12, 13, 14, 15)
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6. A pedestrian detection system comprising:
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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. - View Dependent Claims (7, 8, 9, 10, 16, 17, 18, 19, 20)
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Specification