Abstract:
Significant progress has been achieved over the past decade on vision-based pedestrian detection; this has led to active pedestrian safety systems being deployed in most ...Show MoreMetadata
Abstract:
Significant progress has been achieved over the past decade on vision-based pedestrian detection; this has led to active pedestrian safety systems being deployed in most mid- to high-range cars on the market. Comparatively little effort has been spent on vision-based cyclist detection, especially when it concerns quantitative performance analysis on large datasets. We present a large-scale experimental study on cyclist detection where we examine the currently most promising object detection methods; we consider Aggregated Channel Features, Deformable Part Models and Region-based Convolutional Neural Networks. We also introduce a new method called Stereo-Proposal based Fast R-CNN (SP-FRCN) to detect cyclists based on stereo proposals and Fast R-CNN (FRCN) framework. Experiments are performed on a dataset containing 22161 annotated cyclist instances in over 30000 images, recorded from a moving vehicle in the urban traffic of Beijing. Results indicate that all the three solution families can reach top performance around 0.89 average precision on the easy case, but the performance drops gradually with the difficulty increasing. The dataset including rich annotations, stereo images and evaluation scripts (termed “Tsinghua-Daimler Cyclist Benchmark”) is made public to the scientific community, to serve as a common point of reference for future research.
Published in: 2016 IEEE Intelligent Vehicles Symposium (IV)
Date of Conference: 19-22 June 2016
Date Added to IEEE Xplore: 08 August 2016
ISBN Information: