Preceding vehicle detection using Histograms of Oriented Gradients

Abstract

This paper presents a monocular vision-based preceding vehicle detection system using Histogram of Oriented Gradient (HOG) based method and linear SVM classification. Our detection algorithm consists of three main components: HOG feature extraction, linear SVM classifier training and vehicles detection. Integral Image method is adopted to improve the HOG computational efficiency, and hard examples are generated to reduce false positives in the training phase. In detection step, the multiple overlapping detections due to multi-scale window searching are very well fused by non-maximum suppression based on mean-shift. The monocular system is tested under different traffic scenarios (e.g., simply structured highway, complex urban environments, local occlusion conditions), illustrating good performance.