RoIs (region of interest) filtering method and device for vehicle-mounted thermal imaging pedestrian detection

Abstract

The invention discloses an RoIs (regions of interest) filtering method and device for vehicle-mounted thermal imaging pedestrian detection. The method provided by the invention is a method for filtering non-pedestrian RoIs through a three-level cascading filter, and comprises the steps that the first layer calculates a pedestrian pixel height and the RoIs aspect ratio and sets corresponding threshold intervals to filter out the RoIs in abnormal sizes; the second layer calculates the vertical distances between the upper and lower boundaries of each RoI and a current image pavement reference oneby one, calculates the threshold value based on the threshold of the pixel heights of the RoIs, and filters out the RoIs in abnormal sizes; the third layer searches for a possible pedestrian head region according to the luminance vertical projection difference curve of each RoI, performs the comparison of the difference degree of the Haar-like features of a head region and an adjacent backgroundregion, and filters out the RoIs without the pedestrian heads. The method can reduce the calculation expenditure of the pedestrian detection and improves the scene adaptability of a classifier under the condition that the pedestrian detection accuracy is considered. The RoIs filtering device comprises an abnormal size RoIs filter, an abnormal position RoIs filter and a head missing RoIs filter.

Description

technical field [0001] The present invention relates to pedestrian detection, and more particularly, to a region of interest (Regions of Interest, RoIs) filtering method and device for vehicle-mounted thermal imaging pedestrian detection. Background technique [0002] Vehicle-mounted thermal imaging pedestrian detection technology refers to the use of infrared thermal imaging cameras as visual sensors to capture images / videos of vehicle-mounted traffic scenes, and use machine learning and other methods on computers or embedded platforms to identify all pedestrian targets in the images / videos and The coordinate information of the minimum bounding rectangle identifies the position of each pedestrian on the image. [0003] This process contains two key stages: RoIs extraction and RoIs classification detection, where the important factors affecting the calculation cost and accuracy are the number of extracted RoIs and the performance of the classifier used. In the RoIs extracti...

AI Technical Summary

Problems solved by technology

[0012] The purpose of the present invention is to provide a RoIs filtering method and device for vehicle-mounted thermal imaging pedestrian detection, aiming to promote the solution of problems such as decreased accuracy caused by computing performance bottlenecks and inability to meet real-time performance

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