TY  - CHAP
AU  - David Geronimo
AU  - Angel Sappa
AU  - Antonio Lopez
PY  - 2010//
TI  - Stereo-based Candidate Generation for Pedestrian Protection Systems
BT  - Binocular Vision: Development, Depth Perception and Disorders
SP  - 189–208
IS  - 9
PB  - NOVA Publishers
KW  - Pedestrian Detection
N2  - This chapter describes a stereo-based algorithm that provides candidate image windows to a latter 2D classification stage in an on-board pedestrian detection system. The proposed algorithm, which consists of three stages, is based on the use of both stereo imaging and scene prior knowledge (i.e., pedestrians are on the ground) to reduce the candidate searching space. First, a successful road surface fitting algorithm provides estimates on the relative ground-camera pose. This stage directs the search toward the road area thus avoiding irrelevant regions like the sky. Then, three different schemes are used to scan the estimated road surface with pedestrian-sized windows: (a) uniformly distributed through the road surface (3D); (b) uniformly distributed through the image (2D); (c) not uniformly distributed but according to a quadratic function (combined 2D-3D). Finally, the set of candidate windows is reduced by analyzing their 3D content. Experimental results of the proposed algorithm, together with statistics of searching space reduction are provided.
UR  - http://www.cvc.uab.es/adas/publications/geronimo_nova2010.pdf
L1  - http://refbase.cvc.uab.es/files/GSL2010.pdf
N1  - ADAS
ID  - David Geronimo2010
ER  -