Partially occluded object detection using context and depth ordering

A method for verifying detection of a first object partially occluded by a second object relative to a vehicle, the method comprising:

• receiving image information via an image input device;
• determining a first detection window bounding a first image in the image information corresponding to the first object;
• determining a second detection window bounding a second image in the image information corresponding to the second object;
• determining whether the first window and the second window overlap;
• determining a first distance to the first detection window;
• receiving an input from a depth sensor, the depth sensor input corresponding to a measured distance between the depth sensor and the second object;
• comparing the first distance to the measured distance;
• and
• if the first distance is greater than the measured distance, verifying that the first object is partially occluded by the second object.

A system for verifying detection of a first object partially occluded by a second object relative to a vehicle, the system comprising:

• an image input device for receiving image information;
• an object detector to determine a first detection window bounding a first image in the image information corresponding to the first object, and a second detection window bounding a second image in the image information corresponding to the second object;
• and
• a processor operatively connected for computer communication to the image input device and the object detector, the processor being configured to:
• determine whether the first detection window and the second detection window overlap;
• if the first and second detection windows overlap, determine a first distance to the first object and determine a second distance to the second object;
• and
• if the first distance is greater than the second distance, verify that the first object is partially occluded.