4. Related Work
• Pedestrian detection using vehicle mounted
stereo cameras
• Crowd tracking in enclosed environments
• People tracking using fixed cameras and
driver warning if a person is on the path
• Same object identification using off-board
cameras and not localized mobile camera
5. Our Method Overview
Off-Board camera In world coordinates
Pos relative to On-Board camera
the vehicle detection
7. Off-Board Cameras
• Fixed cameras
• MOG2 background segmentation
• Noise filtering
• Blob detection
• Size and dimensions filtering
• Feet position - bottom centre
point of the blob
8. People Detector - HOG
• Popular method for people detection
• Works well in cluttered environments
• Based on distribution of intensity gradients
or edge directions.
• Descriptor created from many samples
9. On-Board Cameras
Full Image Analysis
The camera view is split according A: Whole Image analysis - person not
to the distance from the camera: detected
blue (3-7 meters), green (7-12 B: Area split method - person detected
meters), yellow (12-20 meters).
10. Targeted Analysis
Expected feet Detected
position from person
ground plane
homography
HOG search area
Size calculated using the expected person height
11. Data Fusion
Off-Board Cam A Off-Board Cam B
Detected On-Board Cam - HOG
people
positions
Position Fusion
Final Pedestrian Position
12. Data Fusion
Position sensor fusion
6
HOG detector variance
Estimated distance error (meters)
Measurement Error
5
Polynomial Error Estimation
estimation depending 4
on the object’s distance
3
2
from the camera 1
0
2 3 4 5 6 7 8 9 10 11 12
Distance from the camera (meters)
Extended Kalman Filter for sensor fusion and tracking
14. Experiments
30m by 30m industrial site
Test vehicle - HMC
2 Off-Board, 1 On-Board cam
Three 4-6 minute runs
1-2 People walking around
Vehicle static and moving
16. Progress
• Additional front facing cameras, 4 in total
- Two side cameras
- Wide angle camera for close proximity
- Far proximity front camera
• People tracking
• HOG performed on GPU GeForce GT640
17. Progress
Close Prox Cam
Danger Zone -
reduced to around
20 cm from the
front of the vehicle
Far Prox Cam