Real-time robust far infrared vehicle-mounted pedestrian detection method

Abstract

The invention discloses a real-time robust far infrared vehicle-mounted pedestrian detection method. The method comprises the steps of catching a potential pedestrian pre-selection area in an input image through a pixel gradient vertical projection, searching an interest area in the pedestrian pre-selection area through a local threshold method and morphological post-processing techniques, extracting a multi-stage entropy weighing gradient direction histogram for feature description of the interest area, inputting the histogram to a support vector machine pedestrian classifier for online judgment of the interest area, achieving pedestrian detection through multi-frame verification and screening of judgment results of the pedestrian classifier, dividing training sample space according to sample height distribution, building a classification frame of a three-branch structure, and collecting difficult samples and a training pedestrian classifier in an iteration mode with combination of a bootstrap method and an advanced termination method. According to the real-time robust far infrared vehicle-mounted pedestrian detection method, not only is accuracy of pedestrian detection improved, but also a false alarm rate is reduced, input image processing speed and generalization capacity of the classifier are improved, and provided is an effective night vehicle-mounted pedestrian-assisted early warning method.

Description

technical field [0001] The invention relates to the field of computer vision and pattern recognition, and intelligent transportation systems (ITS), in particular to a vehicle-mounted pedestrian detection method based on far-infrared video. Background technique [0002] The vehicle-mounted pedestrian detection in the car driving assistance system is an important part of the intelligent transportation system. This research topic comes directly from the needs of the society and the market, and has a good application prospect and market value. Casualties caused by motor vehicle traffic accidents at night are about 3 to 4 times that of daytime (C. Fors, S.-O. Lundkvist, Night-time traffic in urban areas: a literature review on road user aspects, Technical Report, VTI rapport 650A, 2009). [0003] Road transportation plays a pivotal role in my country's comprehensive transportation market, bearing more than 90% of the share. With the rapid development of the automobile market an...

AI Technical Summary

Problems solved by technology

[0012] The purpose of the present invention is to provide a real-time and robust far-infrared vehicle-mounted pedestrian detection method, which aims to promote the solution of the detection accuracy rate of the existing far-infrared pedestrian detection method. Improve the usability of the vehicle-mounted pedestrian detection system at night

Images