Results from a Real-time Stereo-based Pedestrian Detection System on a Moving Vehicle
Max Bajracharya, Baback Moghaddam, Andrew B. Howard, Shane Brennan, Larry H. Matthies · 2009
Abstract—This paper describes performance results from a real-time system for detecting, localizing, and tracking pedes-trians from a moving vehicle. The end-to-end system runs at 5Hz on 1024x768 imagery using standard hardware, and has been integrated and tested on multiple ground vehicles and environments. We show performance on a diverse set of ground-truthed datasets in outdoor environments with varying degrees of pedestrian density and clutter. The system can reliably detect upright pedestrians to a range of 40m in lightly cluttered urban environments. In highly cluttered urban environments, the detection rates are on par with state-of-the-art non-real-time systems [1]. I.