Robust feature descriptor and vehicle motion model with tracking-by-detection for active safety

Hirokatsu Kataoka, Kimimasa Tamura, Yoshimitsu Aoki, Yasuhiro Matsui, Kenji Iwata, Yutaka Satoh

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    The percentage of pedestrian deaths in traffic accidents is on the rise in Japan. In recent years, there have been calls for measures to be introduced to protect vulnerable road users such as pedestrians and cyclists. In this study, a method to detect and track pedestrians using an in-vehicle camera is presented to perform braking controls, warn the driver, and develop improved safety systems for pedestrians. We improved the technology of detecting pedestrians using highly accurate images obtained with a monocular camera. We were able to predict pedestrian activity by monitoring the images, and developed an algorithm with which to recognize pedestrians and their movements more accurately. The effectiveness of the algorithm was tested using images taken on real roads. For the feature descriptor, we used an extended co-occurrence histogram of oriented gradients (ECoHOG) that accumulated the integration of gradient intensities. In the tracking step, we applied an effective motion model using optical flow and the proposed feature descriptor ECoHOG in a tracking-by-detection framework. These techniques were verified using images captured on the real road.

    Original languageEnglish
    Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
    Pages2472-2477
    Number of pages6
    DOIs
    Publication statusPublished - 2013 Dec 1
    Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
    Duration: 2013 Nov 102013 Nov 14

    Publication series

    NameIECON Proceedings (Industrial Electronics Conference)

    Other

    Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
    CountryAustria
    CityVienna
    Period13/11/1013/11/14

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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  • Cite this

    Kataoka, H., Tamura, K., Aoki, Y., Matsui, Y., Iwata, K., & Satoh, Y. (2013). Robust feature descriptor and vehicle motion model with tracking-by-detection for active safety. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 2472-2477). [6699519] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2013.6699519