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Stereo-based pedestrian detection using the dynamic ground plane estimation method

Title
Stereo-based pedestrian detection using the dynamic ground plane estimation method
Authors
Lim, Y.C.Kang, M.
DGIST Authors
Lim, Y.C.; Kang, M.
Issue Date
2016
Citation
2nd International Conference on Communication and Information Processing, ICCIP 2016, 110-114
Type
Conference
Article Type
Conference Paper
ISBN
9781450000000
Abstract
Pedestrian detection requires both reliable performance and fast processing. Stereo-based pedestrian detectors meet these requirements due to a hypotheses generation processing. However, noisy depth images increase the difficulty of robustly estimating the road line in various road environments. This problem results in inaccurate candidate bounding boxes and complicates the correct classification of the bounding boxes. In this letter, we propose a dynamic ground plane estimation method to manage this problem. Our approach estimates the ground plane optimally using a posterior probability that combines a prior probability and several uncertain observations due to cluttered road environments. Our approach estimates a ground plane optimally using a posterior probability which combines a prior probability and several uncertain observations due to cluttered road environments. The experimental results demonstrate that the proposed method estimates the ground plane robustly and accurately in noisy depth images and also a stereo-based pedestrian detector using the proposed method outperforms previous state-of-the art detectors with less complexity. © 2016 ACM.
URI
http://hdl.handle.net/20.500.11750/4332
DOI
10.1145/3018009.3018035
Publisher
Association for Computing Machinery
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Future Automotive Technology2. Conference Papers


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