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US 9,286,512 B2Granted
Method for detecting pedestrians based on far infrared ray camera at night
AssigneeHyundai Mobis Co., Ltd.
InventorsByung Jun Kang, Dong Kyu Ryu
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Abstract
The present invention relates to a method for detecting a pedestrian based on a far infrared ray (IR) camera at night, which provides a method of receiving a thermal image of a pedestrian from a far IR camera, setting a candidate using a DoG filter having a robust characteristic against image noise, and accurately detecting the pedestrian using a classifier based on a behavioral characteristic of the pedestrian.
Claims13
A method for detecting a pedestrian based on a far infrared ray (IR) camera at night, the method comprising:
- receiving a thermal image of a pedestrian;
- obtaining a first response value at each pixel of the thermal image using a difference of Gaussian (DoG) filter;
- measuring a variance value at each pixel of the thermal image;
- creating a binary image by binarizing a second response value at a pixel calculated through a multiplication of the first response value and the variance value;
- creating a pedestrian candidate cluster from the binary image using a component labeling method;
- detecting the pedestrian by classifying the pedestrian candidate cluster using at least one classifier learned based on a behavioral characteristic of the pedestrian;
- and
- calculating a position of the pedestrian.
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Dependencies are inferred from the claim text.