Multi-Camera Pedestrian Detection Beyond Ground-Plane Limits
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Solution Overview
Problem
Existing pedestrian detection systems, such as those using stereoscopic cameras and 3D disparity maps, are inadequate for heavy goods vehicles and fork lift trucks, as they fail to detect pedestrians on raised walkways or obscured by loads, leading to potential collisions due to reliance on a ground-up detection approach.
Innovation Solution
An object detection system employing multiple cameras with open-source algorithms like YOLO for whole-image analysis, enabling detection of objects regardless of their position relative to the ground plane, and incorporating an accelerometer to adjust camera views based on vehicle speed and movement, ensuring accurate identification of pedestrians even in complex scenarios.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a ground-up detection approach using stereoscopic cameras and 3D disparity maps is used, then the system can detect objects on the ground plane, but it fails to detect pedestrians on raised walkways or obscured by loads
Solution Approach 1:
The system transitions from a ground-up detection approach (2D disparity map on ground plane) to a multi-dimensional detection approach by introducing multiple camera heads positioned at different heights and angles. This enables detection in three-dimensional space, capturing pedestrians on raised walkways and those obscured by loads that were previously undetectable.
Solution Approach 2:
The detection system is segmented into multiple independent camera heads, each with its own field of view and detection capabilities. The first camera head detects objects in its field of view while the second camera head provides additional perspective, allowing the system to detect pedestrians from multiple angles and positions simultaneously.
2Measurement precision
If stereo cameras are used to create 3D disparity maps, then distance measurement is improved, but detection of partially obscured pedestrians behind obstacles is lost
Solution Approach 1:
The system merges the detection results from multiple camera heads by combining their respective fields of view. This integration allows the system to detect pedestrians that may be partially obscured in one camera's view but visible in another, maintaining both distance measurement precision and pedestrian detection accuracy.
3Ease of manufacture
If the system relies on ground plane detachment detection, then simple ground-level pedestrians are detected, but pedestrians on raised surfaces or moving vehicles are missed
Solution Approach 1:
The detection system is designed with multi-functionality to handle various detection scenarios beyond ground-level pedestrians. By positioning camera heads at different heights and angles, the system can detect pedestrians on ground level, raised walkways, and moving vehicles, making the detection algorithm adaptable to diverse operational environments.
Data Source
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AI summary
The present invention provides an object detection system. The system includes an apparatus having first camera means provided to detect the occurrence of an object within a field of view of the first camera means, and second and third camera means in communication with one another, provided to resolve the distance and angle of the detected object relative to the apparatus. The present invention also provides a vehicle including such an object detection system.