Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying solely on RGB cameras may not be enough to recognize road environments in situations where cameras cannot capture scenes properly. Some approaches aim to compensate for these limitations by combining RGB cameras with TOF sensors, such as LIDARs. However, there are few works that address this problem using exclusively the 3D geometric information provided by LIDARs. In this paper, we propose a PointNet++ based architecture to detect pedestrians in dense 3D point clouds. The aim is to explore the potential contribution of geometric information alone in pedestrian detection systems. We also present a semi-automatic labeling system that transfers pedestrian and non-pedestrian labels from RGB images onto the 3D domain. The fact that our datasets have RGB registered with point clouds enables label transferring by back projection from 2D bounding boxes to point clouds, with only a light manual supervision to validate results. We train PointNet++ with the geometry of the resulting 3D labelled clusters. The evaluation confirms the effectiveness of the proposed method, yielding precision and recall values around 98%.
CSIRO Data61（澳大利亚联邦科学与工业研究组织数据61）；Australian National University（澳大利亚国立大学）
Multiview detection uses multiple calibrated cameras with overlapping fields of views to locate occluded pedestrians. In this field, existing methods typically adopt a ``human modeling - aggregation'' strategy. To find robust pedestrian representations, some intuitively incorporate 2D perception results from each frame, while others use entire frame features projected to the ground plane. However, the former does not consider the human appearance and leads to many ambiguities, and the latter suffers from projection errors due to the lack of accurate height of the human torso and head. In this …
Cooperative perception allows a Connected Autonomous Vehicle (CAV) to interact with the other CAVs in the vicinity to enhance perception of surrounding objects to increase safety and reliability. It can compensate for the limitations of the conventional vehicular perception such as blind spots, low resolution, and weather effects. An effective feature fusion model for the intermediate fusion methods of cooperative perception can improve feature selection and information aggregation to further enhance the perception accuracy. We propose adaptive feature fusion models with trainable feature sele…
Radar-Based NLoS Pedestrian Localization for Darting-Out Scenarios Near Parked Vehicles with Camera-Assisted Point Cloud Interpretation
Seoul National University（首尔国立大学）；Samsung Electro-Mechanics Co., Ltd.（三星机电有限公司）；Chungnam National University（全南国立大学）；Ajou University（亚运会大学）；Institute of Engineering Research at Seoul National University（首尔国立大学工程研究所）
In this work, we contribute an EM algorithm for estimation of corner points and linear crossing segments for both marked and unmarked pedestrian crosswalks using the detections of pedestrians from processed LiDAR point clouds or camera images. We demonstrate the algorithmic performance by analyzing three real-world datasets containing multiple periods of data collection for four-corner and two-corner intersections with marked and unmarked crosswalks. Additionally, we include a Python video tool to visualize the crossing parameter estimation, pedestrian trajectories, and phase intervals in our …
Pedestrian detection is an important component for safety of autonomous vehicles, as well as for traffic and street surveillance. There are extensive benchmarks on this topic and it has been shown to be a challenging problem when applied on real use-case scenarios. In purely image-based pedestrian detection approaches, the state-of-the-art results have been achieved with convolutional neural networks (CNN) and surprisingly few detection frameworks have been built upon multi-cue approaches. In this work, we develop a new pedestrian detector for autonomous vehicles that exploits LiDAR data, in a…
The growing demand for intelligent environments unleashes an extraordinary cycle of privacy-aware applications that makes individuals' life more comfortable and safe. Examples of these applications include pedestrian tracking systems in large areas. Although the ubiquity of camera-based systems, they are not a preferable solution due to the vulnerability of leaking the privacy of pedestrians. In this paper, we introduce a novel privacy-preserving system for pedestrian tracking in smart environments using multiple distributed LiDARs of non-overlapping views. The system is designed to leverage L…
University of Maryland（马里兰大学）；Samsung Electronics（三星电子）
We propose a deep neural network fusion architecture for fast and robust pedestrian detection. The proposed network fusion architecture allows for parallel processing of multiple networks for speed. A single shot deep convolutional network is trained as a object detector to generate all possible pedestrian candidates of different sizes and occlusions. This network outputs a large variety of pedestrian candidates to cover the majority of ground-truth pedestrians while also introducing a large number of false positives. Next, multiple deep neural networks are used in parallel for further refinem…
University of Toronto（多伦多大学）；Institute for Aerospace Studies（航空航天研究所）
Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual Multi-View Synthesis module that can be adopted into 3D object detection methods to improve orientation estimation. The module uses a multi-step process to acquire the fine-grained semantic information required for accurate orientation estimation. First, the scene's point cloud is densified using a structure preserving depth completion algorithm and each poin…
We propose a new deep learning based framework to identify pedestrians, and caution distracted drivers, in an effort to prevent the loss of life and property. This framework uses two Convolutional Neural Networks (CNN), one which detects pedestrians and the second which predicts the onset of drowsiness in a driver, is implemented on a Raspberry Pi 3 Model B+, shows great promise. The algorithm for implementing such a low-cost, low-compute model is presented and the results discussed.
Multispectral pedestrian detection is essential for around-the-clock applications, e.g., surveillance and autonomous driving. We deeply analyze Faster R-CNN for multispectral pedestrian detection task and then model it into a convolutional network (ConvNet) fusion problem. Further, we discover that ConvNet-based pedestrian detectors trained by color or thermal images separately provide complementary information in discriminating human instances. Thus there is a large potential to improve pedestrian detection by using color and thermal images in DNNs simultaneously. We carefully design four Con…
Efficiently and accurately detecting people from 3D point cloud data is of great importance in many robotic and autonomous driving applications. This fundamental perception task is still very challenging due to (i) significant deformations of human body pose and gesture over time and (ii) point cloud sparsity and scarcity for pedestrian class objects. Recent efficient 3D object detection approaches rely on pillar features to detect objects from point cloud data. However, these pillar features do not carry sufficient expressive representations to deal with all the aforementioned challenges in d…
Xi’an Jiaotong-Liverpool University（西交利物浦大学）；University of Liverpool（利物浦大学）
Although deep-learning based methods for monocular pedestrian detection have made great progress, they are still vulnerable to heavy occlusions. Using multi-view information fusion is a potential solution but has limited applications, due to the lack of annotated training samples in existing multi-view datasets, which increases the risk of overfitting. To address this problem, a data augmentation method is proposed to randomly generate 3D cylinder occlusions, on the ground plane, which are of the average size of pedestrians and projected to multiple views, to relieve the impact of overfitting …
Zhejiang University（浙江大学）；University of Twente（特文特大学）
Multispectral pedestrian detection has received extensive attention in recent years as a promising solution to facilitate robust human target detection for around-the-clock applications (e.g. security surveillance and autonomous driving). In this paper, we demonstrate illumination information encoded in multispectral images can be utilized to significantly boost performance of pedestrian detection. A novel illumination-aware weighting mechanism is present to accurately depict illumination condition of a scene. Such illumination information is incorporated into two-stream deep convolutional neu…
Deep learning methods have achieved great success in pedestrian detection, owing to its ability to learn features from raw pixels. However, they mainly capture middle-level representations, such as pose of pedestrian, but confuse positive with hard negative samples, which have large ambiguity, e.g. the shape and appearance of `tree trunk' or `wire pole' are similar to pedestrian in certain viewpoint. This ambiguity can be distinguished by high-level representation. To this end, this work jointly optimizes pedestrian detection with semantic tasks, including pedestrian attributes (e.g. `carrying…
The Chinese University of Hong Kong（香港中文大学）；SenseTime Group Limited（商汤集团有限公司）
Pedestrian analysis plays a vital role in intelligent video surveillance and is a key component for security-centric computer vision systems. Despite that the convolutional neural networks are remarkable in learning discriminative features from images, the learning of comprehensive features of pedestrians for fine-grained tasks remains an open problem. In this study, we propose a new attention-based deep neural network, named as HydraPlus-Net (HP-net), that multi-directionally feeds the multi-level attention maps to different feature layers. The attentive deep features learned from the propose…
Pedestrian trajectory prediction is crucial for many important applications. This problem is a great challenge because of complicated interactions among pedestrians. Previous methods model only the pairwise interactions between pedestrians, which not only oversimplifies the interactions among pedestrians but also is computationally inefficient. In this paper, we propose a novel model StarNet to deal with these issues. StarNet has a star topology which includes a unique hub network and multiple host networks. The hub network takes observed trajectories of all pedestrians to produce a comprehens…
We present a data association method for vision-based multiple pedestrian tracking, using deep convolutional features to distinguish between different people based on their appearances. These re-identification (re-ID) features are learned such that they are invariant to transformations such as rotation, translation, and changes in the background, allowing consistent identification of a pedestrian moving through a scene. We incorporate re-ID features into a general data association likelihood model for multiple person tracking, experimentally validate this model by using it to perform tracking …
Accurate pedestrian orientation estimation of autonomous driving helps the ego vehicle obtain the intentions of pedestrians in the related environment, which are the base of safety measures such as collision avoidance and prewarning. However, because of relatively small sizes and high-level deformation of pedestrians, common pedestrian orientation estimation models fail to extract sufficient and comprehensive information from them, thus having their performance restricted, especially monocular ones which fail to obtain depth information of objects and related environment. In this paper, a nove…
Opel Automobile GmbH（欧宝汽车公司）；Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院测量与控制系统研究所）
3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for this task, which should provide complementary information. Unexpectedly, LiDAR-only detection methods tend to outperform multisensor fusion methods in public benchmarks. Recently, PointPainting has been presented to eliminate this performance drop by effectively fusing the output of a semantic segmentation network instead of the raw image information. In thi…
Institue of Measurement and Control Systems（测量与控制系统研究所）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）
Accurate traffic participant prediction is the prerequisite for collision avoidance of autonomous vehicles. In this work, we predict pedestrians by emulating their own motion planning. From online observations, we infer a mixture density function for possible destinations. We use this result as the goal states of a planning stage that performs motion prediction based on common behavior patterns. The entire system is modeled as one monolithic neural network and trained via inverse reinforcement learning. Experimental validation on real world data shows the system's ability to predict both, dest…
Tianjin University（天津大学）；Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）；Linköping University（林雪平大学）；Inception Institute of Artificial Intelligence（因塞普申人工智能研究院）
Pedestrian detection is an important but challenging problem in computer vision, especially in human-centric tasks. Over the past decade, significant improvement has been witnessed with the help of handcrafted features and deep features. Here we present a comprehensive survey on recent advances in pedestrian detection. First, we provide a detailed review of single-spectral pedestrian detection that includes handcrafted features based methods and deep features based approaches. For handcrafted features based methods, we present an extensive review of approaches and find that handcrafted feature…
Shanghai Jiao Tong University（上海交通大学）；University of Twente（特文特大学）
This paper addresses the problem of unsupervised domain adaptation on the task of pedestrian detection in crowded scenes. First, we utilize an iterative algorithm to iteratively select and auto-annotate positive pedestrian samples with high confidence as the training samples for the target domain. Meanwhile, we also reuse negative samples from the source domain to compensate for the imbalance between the amount of positive samples and negative samples. Second, based on the deep network we also design an unsupervised regularizer to mitigate influence from data noise. More specifically, we trans…
Tracking by detection is a common approach to solving the Multiple Object Tracking problem. In this paper we show how learning a deep similarity metric can improve three key aspects of pedestrian tracking on a multiple object tracking benchmark. We train a convolutional neural network to learn an embedding function in a Siamese configuration on a large person re-identification dataset. The offline-trained embedding network is integrated in to the tracking formulation to improve performance while retaining real-time performance. The proposed tracker stores appearance metrics while detections ar…
Pedestrian detection is a popular research topic due to its paramount importance for a number of applications, especially in the fields of automotive, surveillance and robotics. Despite the significant improvements, pedestrian detection is still an open challenge that calls for more and more accurate algorithms. In the last few years, deep learning and in particular convolutional neural networks emerged as the state of the art in terms of accuracy for a number of computer vision tasks such as image classification, object detection and segmentation, often outperforming the previous gold standar…
Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）
In this paper we study the use of convolutional neural networks (convnets) for the task of pedestrian detection. Despite their recent diverse successes, convnets historically underperform compared to other pedestrian detectors. We deliberately omit explicitly modelling the problem into the network (e.g. parts or occlusion modelling) and show that we can reach competitive performance without bells and whistles. In a wide range of experiments we analyse small and big convnets, their architectural choices, parameters, and the influence of different training data, including pre-training on surroga…
University of Trento（特伦托大学）；The Chinese University of Hong Kong（香港中文大学）；The University of Sydney（悉尼大学）；Fondazione Bruno Kessler（布鲁诺·凯斯勒基金会）；University of Perugia（佩鲁贾大学）
This paper presents a novel method for detecting pedestrians under adverse illumination conditions. Our approach relies on a novel cross-modality learning framework and it is based on two main phases. First, given a multimodal dataset, a deep convolutional network is employed to learn a non-linear mapping, modeling the relations between RGB and thermal data. Then, the learned feature representations are transferred to a second deep network, which receives as input an RGB image and outputs the detection results. In this way, features which are both discriminative and robust to bad illumination …
Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；Fraunhofer IOSB（弗劳恩霍夫光电、系统技术及图像处理研究所）
Pedestrian attribute inference is a demanding problem in visual surveillance that can facilitate person retrieval, search and indexing. To exploit semantic relations between attributes, recent research treats it as a multi-label image classification task. The visual cues hinting at attributes can be strongly localized and inference of person attributes such as hair, backpack, shorts, etc., are highly dependent on the acquired view of the pedestrian. In this paper we assert this dependence in an end-to-end learning framework and show that a view-sensitive attribute inference is able to learn be…
Zhejiang University（浙江大学）；University of Twente（特温特大学）
Effective fusion of complementary information captured by multi-modal sensors (visible and infrared cameras) enables robust pedestrian detection under various surveillance situations (e.g. daytime and nighttime). In this paper, we present a novel box-level segmentation supervised learning framework for accurate and real-time multispectral pedestrian detection by incorporating features extracted in visible and infrared channels. Specifically, our method takes pairs of aligned visible and infrared images with easily obtained bounding box annotations as input and estimates accurate prediction map…
University of Adelaide（阿德莱德大学）；NICTA（国家信息与通信技术研究院）
Compared to other applications in computer vision, convolutional neural networks have under-performed on pedestrian detection. A breakthrough was made very recently by using sophisticated deep CNN models, with a number of hand-crafted features, or explicit occlusion handling mechanism. In this work, we show that by re-using the convolutional feature maps (CFMs) of a deep convolutional neural network (DCNN) model as image features to train an ensemble of boosted decision models, we are able to achieve the best reported accuracy without using specially designed learning algorithms. We empiricall…
The low resolution of objects of interest in aerial images makes pedestrian detection and action detection extremely challenging tasks. Furthermore, using deep convolutional neural networks to process large images can be demanding in terms of computational requirements. In order to alleviate these challenges, we propose a two-step, yes and no question answering framework to find specific individuals doing one or multiple specific actions in aerial images. First, a deep object detector, Single Shot Multibox Detector (SSD), is used to generate object proposals from small aerial images. Second, a…
Instituto de Sistemas e Robótica, Instituto Superior Técnico, Universidade de Lisboa（里斯本大学高等技术学院系统与机器人研究所）
A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem. The pedestrian detector combines the Aggregate Channel Features (ACF) detector with a deep Convolutional Neural Network (CNN) in order to obtain fast and accurate performance. Our solution is firstly evaluated using a set of real images taken from onboard and offboard cameras and, then, it is validated in a typical robot navigation environment with pedestrians (two distinct experiments are conducted). The results on both tests show that our pedestrian detector is robust …
In this paper, we present an efficient pedestrian detection system, designed by fusion of multiple deep neural network (DNN) systems. Pedestrian candidates are first generated by a single shot convolutional multi-box detector at different locations with various scales and aspect ratios. The candidate generator is designed to provide the majority of ground truth pedestrian annotations at the cost of a large number of false positives. Then, a classification system using the idea of ensemble learning is deployed to improve the detection accuracy. The classification system further classifies the g…
Vehicle-to-Pedestrian (V2P) communication can significantly improve pedestrian safety at a signalized intersection. It is unlikely that pedestrians will carry a low latency communication enabled device and activate a pedestrian safety application in their hand-held device all the time. Because of this limitation, multiple traffic cameras at the signalized intersection can be used to accurately detect and locate pedestrians using deep learning and broadcast safety alerts related to pedestrians to warn connected and automated vehicles around a signalized intersection. However, unavailability of …
In this work, we examine the feasibility of applying Deep Convolutional Generative Adversarial Networks (DCGANs) with Single Shot Detector (SSD) as data-processing technique to handle with the challenge of pedestrian detection in the wild. Specifically, we attempted to use in-fill completion (where a portion of the image is masked) to generate random transformations of images with portions missing to expand existing labelled datasets. In our work, GAN has been trained intensively on low resolution images, in order to neutralize the challenges of the pedestrian detection in the wild, and consid…
The main essence of this paper is to investigate the performance of RetinaNet based object detectors on pedestrian detection. Pedestrian detection is an important research topic as it provides a baseline for general object detection and has a great number of practical applications like autonomous car, robotics and Security camera. Though extensive research has made huge progress in pedestrian detection, there are still many issues and open for more research and improvement. Recent deep learning based methods have shown state-of-the-art performance in computer vision tasks such as image classif…
Indian Statistical Institute（印度统计研究所）；Valeo India（法雷奥印度公司）；Valeo Visions Systems（法雷奥视觉系统公司）
Pedestrian Detection is the most critical module of an Autonomous Driving system. Although a camera is commonly used for this purpose, its quality degrades severely in low-light night time driving scenarios. On the other hand, the quality of a thermal camera image remains unaffected in similar conditions. This paper proposes an end-to-end multimodal fusion model for pedestrian detection using RGB and thermal images. Its novel spatio-contextual deep network architecture is capable of exploiting the multimodal input efficiently. It consists of two distinct deformable ResNeXt-50 encoders for feat…
Sun Yat-sen University（中山大学）；Microsoft Research（微软研究院）
Detecting pedestrian has been arguably addressed as a special topic beyond general object detection. Although recent deep learning object detectors such as Fast/Faster R-CNN [1, 2] have shown excellent performance for general object detection, they have limited success for detecting pedestrian, and previous leading pedestrian detectors were in general hybrid methods combining hand-crafted and deep convolutional features. In this paper, we investigate issues involving Faster R-CNN [2] for pedestrian detection. We discover that the Region Proposal Network (RPN) in Faster R-CNN indeed performs we…
Motion-based association for Multi-Object Tracking (MOT) has recently re-achieved prominence with the rise of powerful object detectors. Despite this, little work has been done to incorporate appearance cues beyond simple heuristic models that lack robustness to feature degradation. In this paper, we propose a novel way to leverage objects' appearances to adaptively integrate appearance matching into existing high-performance motion-based methods. Building upon the pure motion-based method OC-SORT, we achieve 1st place on MOT20 and 2nd place on MOT17 with 63.9 and 64.9 HOTA, respectively. We a…
The design of complexity-aware cascaded detectors, combining features of very different complexities, is considered. A new cascade design procedure is introduced, by formulating cascade learning as the Lagrangian optimization of a risk that accounts for both accuracy and complexity. A boosting algorithm, denoted as complexity aware cascade training (CompACT), is then derived to solve this optimization. CompACT cascades are shown to seek an optimal trade-off between accuracy and complexity by pushing features of higher complexity to the later cascade stages, where only a few difficult candidate…
Pedestrian's road crossing behaviour is one of the important aspects of urban dynamics that will be affected by the introduction of autonomous vehicles. In this study we introduce DeepSurvival, a novel framework for estimating pedestrian's waiting time at unsignalized mid-block crosswalks in mixed traffic conditions. We exploit the strengths of deep learning in capturing the nonlinearities in the data and develop a cox proportional hazard model with a deep neural network as the log-risk function. An embedded feature selection algorithm for reducing data dimensionality and enhancing the interpr…
Deep neural networks trained on demonstrations of human actions give robot the ability to perform self-driving on the road. However, navigation in a pedestrian-rich environment, such as a campus setup, is still challenging---one needs to take frequent interventions to the robot and take control over the robot from early steps leading to a mistake. An arduous burden is, hence, placed on the learning framework design and data acquisition. In this paper, we propose a new learning-from-intervention Dataset Aggregation (DAgger) algorithm to overcome the limitations brought by applying imitation lea…
Studies of object detection and localization, particularly pedestrian detection have received considerable attention in recent times due to its several prospective applications such as surveillance, driving assistance, autonomous cars, etc. Also, a significant trend of latest research studies in related problem areas is the use of sophisticated Deep Learning based approaches to improve the benchmark performance on various standard datasets. A trade-off between the speed (number of video frames processed per second) and detection accuracy has often been reported in the existing literature. In t…
Valeo India（法雷奥印度公司）；National University of Ireland, Galway（爱尔兰国立高威大学）；Indian Statistical Institute（印度统计研究所）；Valeo Vision Systems（法雷奥视觉系统公司）；University of Limerick（利默里克大学）
Most of the existing works on pedestrian pose estimation do not consider estimating the pose of an occluded pedestrian, as the annotations of the occluded parts are not available in relevant automotive datasets. For example, CityPersons, a well-known dataset for pedestrian detection in automotive scenes does not provide pose annotations, whereas MS-COCO, a non-automotive dataset, contains human pose estimation. In this work, we propose a multi-task framework to extract pedestrian features through detection and instance segmentation tasks performed separately on these two distributions. Thereaf…
Pedestrian detection plays an important role in many applications such as autonomous driving. We propose a method that explores semantic segmentation results as self-attention cues to significantly improve the pedestrian detection performance. Specifically, a multi-task network is designed to jointly learn semantic segmentation and pedestrian detection from image datasets with weak box-wise annotations. The semantic segmentation feature maps are concatenated with corresponding convolution features maps to provide more discriminative features for pedestrian detection and pedestrian classificati…
Dalian University of Technology（大连理工大学）；University of Technology Sydney（悉尼科技大学）；University of Texas at San Antonio（德克萨斯大学圣安东尼奥分校）
Large-scale is a trend in person re-identification (re-id). It is important that real-time search be performed in a large gallery. While previous methods mostly focus on discriminative learning, this paper makes the attempt in integrating deep learning and hashing into one framework to evaluate the efficiency and accuracy for large-scale person re-id. We integrate spatial information for discriminative visual representation by partitioning the pedestrian image into horizontal parts. Specifically, Part-based Deep Hashing (PDH) is proposed, in which batches of triplet samples are employed as the…
Pedestrian crossing is one of the most typical behavior which conflicts with natural driving behavior of vehicles. Consequently, pedestrian crossing prediction is one of the primary task that influences the vehicle planning for safe driving. However, current methods that rely on the practically collected data in real driving scenes cannot depict and cover all kinds of scene condition in real traffic world. To this end, we formulate a deep virtual to real distillation framework by introducing the synthetic data that can be generated conveniently, and borrow the abundant information of pedestria…
This paper proposes boosting-like deep learning (BDL) framework for pedestrian detection. Due to overtraining on the limited training samples, overfitting is a major problem of deep learning. We incorporate a boosting-like technique into deep learning to weigh the training samples, and thus prevent overtraining in the iterative process. We theoretically give the details of derivation of our algorithm, and report the experimental results on open data sets showing that BDL achieves a better stable performance than the state-of-the-arts. Our approach achieves 15.85% and 3.81% reduction in the ave…
Pedestrian detection methods have been significantly improved with the development of deep convolutional neural networks. Nevertheless, detecting small-scaled pedestrians and occluded pedestrians remains a challenging problem. In this paper, we propose a pedestrian detection method with a couple-network to simultaneously address these two issues. One of the sub-networks, the gated multi-layer feature extraction sub-network, aims to adaptively generate discriminative features for pedestrian candidates in order to robustly detect pedestrians with large variations on scales. The second sub-networ…
With the rise of self-driving vehicles comes the risk of accidents and the need for higher safety, and protection for pedestrian detection in the following scenarios: imminent crashes, thus the car should crash into an object and avoid the pedestrian, and in the case of road intersections, where it is important for the car to stop when pedestrians are crossing. Currently, a special topology of deep neural networks called Fused Deep Neural Network (F-DNN) is considered to be the state of the art in pedestrian detection, as it has the lowest miss rate, yet it is very slow. Therefore, acceleratio…
International Institute for Information Technology, Hyderabad（海得拉巴国际信息技术学院）
Multi-view Detection (MVD) is highly effective for occlusion reasoning in a crowded environment. While recent works using deep learning have made significant advances in the field, they have overlooked the generalization aspect, which makes them impractical for real-world deployment. The key novelty of our work is to formalize three critical forms of generalization and propose experiments to evaluate them: generalization with i) a varying number of cameras, ii) varying camera positions, and finally, iii) to new scenes. We find that existing state-of-the-art models show poor generalization by o…
Institute for Systems and Robotics (LARSyS)（系统与机器人研究所（LARSyS））；Institute Superior Técnico（高等理工学院）；Universidade de Lisboa（里斯本大学）；KTH Royal Institute of Technology（瑞典皇家理工学院）
Pedestrian detection is one of the most explored topics in computer vision and robotics. The use of deep learning methods allowed the development of new and highly competitive algorithms. Deep Reinforcement Learning has proved to be within the state-of-the-art in terms of both detection in perspective cameras and robotics applications. However, for detection in omnidirectional cameras, the literature is still scarce, mostly because of their high levels of distortion. This paper presents a novel and efficient technique for robust pedestrian detection in omnidirectional images. The proposed meth…
