• 전기학회논문지
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• 제66권7호
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• pp.1117-1122
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• 2017

Pedestrian detection is a very important and valuable part of artificial intelligence and computer vision. It can be used in various areas for example automatic drive, video analysis and others. Many works have been done for the pedestrian detection. The accuracy of pedestrian detection on multiple pedestrian image has reached high level. It is not easily get more progress now. This paper proposes a new structure based on the idea of HOG and convolutional filters to do the pedestrian detection in single pedestrian image. It can be a method to increase the accuracy depend on the high accuracy in single pedestrian detection. In this paper, we use Multiblock HOG and magnitude of the pixel as the feature and use convolutional filter to do the to extract the feature. And then use NEWFM to be the classifier for training and testing. We use single pedestrian image of the INRIA data set as the data set. The result shows that the Convolutional Multiblock HOG we proposed get better performance which is 0.015 miss rate at 10-4 false positive than the other detection methods for example HOGLBP which is 0.03 miss rate and ChnFtrs which is 0.075 miss rate.

• 대한임베디드공학회논문지
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• 제18권5호
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• pp.259-265
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• 2023

Pedestrian detection is used to effectively detect pedestrians in various situations based on deep learning. Pedestrian detection has difficulty detecting pedestrians due to problems such as camera performance, pedestrian description, height, and occlusion. Even in the same pedestrian, performance in detecting them can differ according to the height of the pedestrian. The height of general pedestrians encompasses various scales, such as those of infants, adolescents, and adults, so when the model is applied to one group, the extraction of data becomes inaccurate. Therefore, this study proposed a pedestrian detection method that fine-tunes the pedestrian area by Refining Layer and Feature Concatenation to consider various heights of pedestrians. Through this, the score and location value for the pedestrian area were finely adjusted. Experiments on four types of test data demonstrate that the proposed model achieves 2-5% higher average precision (AP) compared to Faster R-CNN and DRPN.

• 전기전자학회논문지
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• 제18권3호
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• pp.398-402
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• 2014

본 논문은 ROI-CENTRIST 기반 보행자 인식 알고리즘의 병렬처리 방식을 제안한다. 기존의 보행자 인식 방식만을 이용하여 임베디드 환경에서 보행자 인식을 실시간으로 처리하기에는 어려움이 존재한다. 이러한 문제는 기존의 알고리즘에 ROI를 적용한 방식을 병렬로 처리함으로써 해결할 수 있다. 본 논문에서 제안하는 ROI-CENTRIST 기반 보행자 인식의 병렬처리 방식은 기존의 CENTRIST 기반 보행자 인식 방식보다 약 10% 향상된 5.2 fps의 성능을 보인다.

• Journal of Multimedia Information System
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• 제6권1호
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• pp.1-6
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• 2019

In the field of industrial applications, the real-time performance of the target detection problem is very important. The most serious time consumption in the pedestrian detection process is the extraction phase of the candidate window. To accelerate the speed, in this paper, a fast extraction of pedestrian candidate window based on the BING (Binarized Normed Gradients) algorithm replaces the traditional sliding window scanning. The BING features are extracted with the positive and negative samples and input into the two-stage SVM (Support Vector Machine) classifier for training. The obtained BING template may include a pedestrian candidate window. The trained template is loaded during detection, and the extracted candidate windows are input into the classifier. The experimental results show that the proposed method can extract fewer candidate window and has a higher recall rate with more rapid speed than the traditional sliding window detection method, so the method improves the detection speed while maintaining the detection accuracy. In addition, the real-time requirement is satisfied.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권8호
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• pp.3769-3789
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• 2018

Social pedestrian groups are the basic elements that constitute a crowd; therefore, detection of such groups is scientifically important for modeling social behavior, as well as practically useful for crowd video understanding. A social group refers to a cluster of members who tend to keep similar motion state for a sustained period of time. One of the main challenges of social group detection arises from the complex dynamic variations of crowd patterns. Therefore, most works model dynamic groups to analysis the crowd behavior, ignoring the existence of stationary groups in crowd scene. However, in this paper, we propose a novel unified framework for detecting social pedestrian groups in crowd videos, including dynamic and stationary pedestrian groups, based on spatiotemporal-oriented energy measurements. Dynamic pedestrian groups are hierarchically clustered based on energy flow similarities and trajectory motion correlations between the atomic groups extracted from principal spatiotemporal-oriented energies. Furthermore, the probability distribution of static spatiotemporal-oriented energies is modeled to detect stationary pedestrian groups. Extensive experiments on challenging datasets demonstrate that our method can achieve superior results for social pedestrian group detection and crowd video classification.

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.930-935
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• 2014

A Gabor filter is a linear filter used for edge detectionas frequency and orientation representations of Gabor filters are similar to those of the human visual system. In this thesis, we propose a pedestrian detection algorithm using a Gabor filter bank. In order to extract the features of the pedestrian, we use various image processing algorithms and data structure algorithms. First, color image segmentation is performed to consider the information of the RGB color space. Second, histogram equalization is performed to enhance the brightness of the input images. Third, convolution is performed between a Gabor filter bank and the enhanced images. Fourth, statistical values are calculated by using the integral image (summed area table) method. The calculated statistical values are used for the feature matrix of the pedestrian area. To evaluate the proposed algorithm, the INRIA pedestrian database and SVM (Support Vector Machine) are used, and we compare the proposed algorithm and the HOG (Histogram of Oriented Gradient) pedestrian detector, presentlyreferred to as the methodology of pedestrian detection algorithm. The experimental results show that the proposed algorithm is more accurate compared to the HOG pedestrian detector.

• 전기학회논문지
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• 제66권4호
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• pp.682-691
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• 2017

In this paper, we propose the fusion design methodology of both pedestrian detection and object tracking system realized with the aid of HOG-PCA based RBFNN pattern classifier. The proposed system includes detection and tracking parts. In the detection part, HOG features are extracted from input images for pedestrian detection. Dimension reduction is also dealt with in order to improve detection performance as well as processing speed by using PCA which is known as a typical dimension reduction method. The reduced features can be used as the input of the FCM-based RBFNNs pattern classifier to carry out the pedestrian detection. FCM-based RBFNNs pattern classifier consists of condition, conclusion, and inference parts. FCM clustering algorithm is used as the activation function of hidden layer. In the conclusion part of network, polynomial functions such as constant, linear, quadratic and modified quadratic are regarded as connection weights and their coefficients of polynomial function are estimated by LSE-based learning. In the tracking part, object tracking algorithms such as mean shift(MS) and cam shift(CS) leads to trace one of the pedestrian candidates nominated in the detection part. Finally, INRIA person database is used in order to evaluate the performance of the pedestrian detection of the proposed system while MIT pedestrian video as well as indoor and outdoor videos obtained from IC&CI laboratory in Suwon University are exploited to evaluate the performance of tracking.

• 전기학회논문지P
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• 제65권1호
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• pp.66-71
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• 2016

According to the development of depth sensing devices and depth estimation technology, depth information becomes more important for object detection in computer vision. In terms of recognition rate, pedestrian detection methods have been improved more accurately. However, the methods makes slower detection time. So, many researches have overcome this problem by using GPU. Here, we propose a real-time pedestrian detection algorithm that does not rely on GPU. First, the depth-weighted distance map is used for detecting expected human regions. Next, human detection is performed on the regions. The performance for the proposed approach is evaluated and compared with the previous methods. We show that proposed method can detect human about 7 times faster than conventional ones.

• ETRI Journal
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• 제45권5호
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• pp.836-846
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• 2023

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.

• Smart Structures and Systems
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• 제22권6호
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• pp.699-709
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• 2018

With increasing traffic volumes and rising vehicle traffic, especially in cities, the number of pedestrian bridges has also increased significantly. Like all other structures, pedestrian bridges also suffer damage. In order to increase the safety of pedestrians, it is necessary to identify existing damage and to repair them to ensure the safety of the bridge structures. Owing to the shortcomings of local methods in identifying damage and in order to enhance the reliability of detection and identification of structural faults, signal methods have seen significant development in recent years. In this research, a new methodology, based on cone-shaped kernel distribution with a new damage index, has been used for damage detection in pedestrian truss bridges. To evaluate the proposed method, the numerical models of the Warren Type steel truss and the Arregar steel footbridge were used. Based on the results, the proposed method and damage index identified the damage and determined its location with a high degree of precision. Given the ease of use, the proposed method can be used to identify faults in pedestrian bridges.