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Image-based pedestrian detection

  • US 10,108,867 B1
  • Filed: 09/08/2017
  • Issued: 10/23/2018
  • Est. Priority Date: 04/25/2017
  • Status: Active Grant
First Claim
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1. A method for detecting pedestrians in images, comprising:

  • identifying, by a computing system comprising one or more electronic devices, a pedestrian within an image obtained from a camera positioned relative to a vehicle;

    determining, by the computing system, an estimated support location for the pedestrian within the image;

    determining, by the computing system, a supplemental portion of data correlated with the pedestrian, the supplemental portion of data obtained from a sensor other than the camera;

    determining, by the computing system, an estimated location of the pedestrian within three-dimensional space based at least in part on (i) the estimated support location for the pedestrian within the image, (ii) a known relative location of the camera to the vehicle, and (iii) the supplemental portion of data;

    obtaining, by the computing system, map data descriptive of a geographic area surrounding the vehicle, the map data including relative locations of ground surfaces proximate to the vehicle;

    determining, by the computing system, a revised estimated location of a pedestrian within three-dimensional space based at least in part on the estimated location and the map data; and

    providing, by the computing system, at least a portion of the image corresponding to the pedestrian and the estimated location of the pedestrian within the three-dimensional space to an object classification application.

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