Citation

Xu F, Liu X, Fujimura K. IEEE Trans. Intel. Transp. Syst. 2005; 6(1): 63-71.

Copyright

(Copyright © 2005, IEEE (Institute of Electrical and Electronics Engineers))

DOI

10.1109/TITS.2004.838222

PMID

unavailable

Abstract

This paper presents a method for pedestrian detection and tracking using a single night-vision video camera installed on the vehicle. To deal with the nonrigid nature of human appearance on the road, a two-step detection/tracking method is proposed. The detection phase is performed by a support vector machine (SVM) with size-normalized pedestrian candidates and the tracking phase is a combination of Kalman filter prediction and mean shift tracking. The detection phase is further strengthened by information obtained by a road-detection module that provides key information for pedestrian validation. Experimental comparisons (e.g., grayscale SVM recognition versus binary SVM recognition and entire-body detection versus upper-body detection) have been carried out to illustrate the feasibility of our approach.