Infrared stereo vision-based pedestrian detection

Abstract

This paper describes an approach for pedestrian detection in stereo infrared images. The developed system has been implemented on an experimental vehicle equipped with two infrared cameras and preliminarily tested in different situations. It is based on the localization and distance estimation of warm areas in the scene; the algorithm groups areas with similar position and considers only results with specific size and aspect ratio. A final validation process, based on the head shape's morphological and thermal characteristics, is used to build the list of potential pedestrian appearing in the scene. Neither temporal correlation, nor motion cues are used in this processing.