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METHOD AND APPARATUS FOR REAL-TIME PEDESTRIAN DETECTION FOR URBAN DRIVING

  • US 20110255741A1
  • Filed: 02/07/2011
  • Published: 10/20/2011
  • Est. Priority Date: 02/05/2010
  • Status: Active Grant
First Claim
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1. A computer implemented method for detecting the presence of one or more pedestrians in the vicinity of the vehicle, comprising the steps of:

  • receiving imagery of a scene from at least one image capturing device;

    deriving a depth map from the imagery;

    detecting a plurality of pedestrian candidate regions of interest (ROIs) from the depth map by matching each of the plurality of ROIs with a 3D human shape model; and

    classifying at least a portion of the candidate ROIs by employing a cascade of classifiers tuned for a plurality of depth bands and trained on a filtered representation of data within the portion of candidate ROIs to determine whether at least one pedestrian is proximal to the vehicle.

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