System and Method for detecting pedestrians
First Claim
1. A method for detecting a pedestrian exterior of a vehicle in an image-based monitoring system, the vehicle having an image capture device for capturing images exterior of the vehicle, the image-based monitoring system including a processor for processing image data received from the image capture device for detecting the pedestrian exterior of the vehicle, the method comprising the steps of:
- receiving input image data from the image capture device;
applying a pedestrian edge-based detection analysis to the input image data for detecting a pedestrian candidate in the input image data, the edge-based detection analysis determining an edge-based confidence value for indicating a confidence level of the pedestrian candidate being a pedestrian;
applying a pedestrian motion-based detection analysis to the input image data for detecting a pedestrian candidate in the input image data, the motion-based detection analysis determining a motion-based confidence value for indicating a confidence level of the pedestrian candidate being a pedestrian;
determining a speed of the vehicle;
applying a first weighting factor as a function of the vehicle speed to the edge-based confidence value and applying a second weighting factor as a function of the vehicle speed to the motion-based confidence value for determining a final confidence value; and
comparing the final confidence value to a threshold value for determining whether to generate a warning that a pedestrian may be present in the input image data.
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Accused Products
Abstract
A method is provided for detecting a pedestrian exterior to a vehicle by use of a vehicle-mounted image-based monitoring system. An edge-based pedestrian detection analysis is applied to the input image data to determine an edge-based confidence value of a candidate image area being a pedestrian. A motion-based pedestrian detection analysis is applied to the input image data to determine a motion-based confidence value of a candidate image area being a pedestrian. A final confidence value is obtained by combining the edge-based confidence value and motion-based confidence value using weighting factors that are functions of vehicle speed. The final confidence value is compared to a threshold value for determining whether to generate a warning that a pedestrian may be present in the input image data.
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Citations
16 Claims
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1. A method for detecting a pedestrian exterior of a vehicle in an image-based monitoring system, the vehicle having an image capture device for capturing images exterior of the vehicle, the image-based monitoring system including a processor for processing image data received from the image capture device for detecting the pedestrian exterior of the vehicle, the method comprising the steps of:
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receiving input image data from the image capture device; applying a pedestrian edge-based detection analysis to the input image data for detecting a pedestrian candidate in the input image data, the edge-based detection analysis determining an edge-based confidence value for indicating a confidence level of the pedestrian candidate being a pedestrian; applying a pedestrian motion-based detection analysis to the input image data for detecting a pedestrian candidate in the input image data, the motion-based detection analysis determining a motion-based confidence value for indicating a confidence level of the pedestrian candidate being a pedestrian; determining a speed of the vehicle; applying a first weighting factor as a function of the vehicle speed to the edge-based confidence value and applying a second weighting factor as a function of the vehicle speed to the motion-based confidence value for determining a final confidence value; and comparing the final confidence value to a threshold value for determining whether to generate a warning that a pedestrian may be present in the input image data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A pedestrian detection system for detecting a pedestrian exterior of a vehicle in an image-based monitoring system, the system comprising:
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a image capture device for capturing images exterior of the vehicle; a processor for processing input image data received from the image capture device, the processor applying an edge-based detection analysis for determining an edge-based confidence value for indicating a confidence level of the pedestrian candidate being a pedestrian, the processor further applying a motion-based detection analysis to the input image data for determining a motion-based confidence value for indicating a confidence level of the pedestrian candidate being a pedestrian, the processor applying a first weighting factor as a function of a vehicle speed to the edge-based confidence value and applying a second weighting factor as a function of the vehicle speed to the motion-based confidence value for determining a final confidence value, wherein the processor compares the final confidence value to a threshold value for determining whether to generate a warning that a pedestrian may be present in the input image data; and an image display for displaying an input image data and for identifying a location of the pedestrian on the image display.
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Specification