SYSTEM AND METHOD FOR DETECTING PEDESTRIANS USING A SINGLE NORMAL CAMERA

• US 20150332089A1
• Filed: 12/03/2012
• Published: 11/19/2015
• 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
• Granted Patent: US 10,043,067 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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; identifying a pedestrian candidate in the image; 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 pedestrian candidate is a true positive by determining whether the actual height of the pedestrian candidate is within a predetermined pedestrian height range. The system and method of the present application have lower cost and higher accuracy compared with conventional technologies.

Claims

1. An 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 the actual height of the pedestrian candidate based on the top view image and extrinsic parameters of the camera; 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.

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 predetermined pedestrian height range is from 1 meter to 2.4 meters.

11. The method of claim 4, wherein the alert is a sound alert, wherein 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. An 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 the 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; 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 method 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 method of claim 19, wherein the pedestrian is enclosed with a rectangle on the display device.