Results from a Real-time Stereo-based Pedestrian Detection System on a Moving Vehicle

This paper describes performance results from a real-time system for detecting, localizing, and tracking pedestrians from a moving vehicle. The end-to-end system runs at 5Hz on 1024x768 imagery using standard hardware, and has been integrated and tested on multiple ground vehicles and environments. We show performance on a diverse set of groundtruthed datasets in outdoor environments with varying degrees of pedestrian density and clutter. The system can reliably detect upright pedestrians to a range of 40m in lightly cluttered urban environments. In highly cluttered urban environments, the detection rates are on par with state-of-the-art non-realtime systems.