Advanced driver assistance systems (ADASs), and particularly pedestrian protection systems (PPSs), have become an active research area aimed at improving traffic safety. The major challenge of PPSs is the development of reliable on-board pedestrian detection systems. Due to the varying appearance of pedestrians (e.g., different clothes, changing size, aspect ratio, and dynamic shape) and the unstructured environment, it is very difficult to cope with the demanded robustness of this kind of system. Two problems arising in this research area are the lack of public benchmarks and the difficulty in reproducing many of the proposed methods, which makes it difficult to compare the approaches. As a result, surveying the literature by enumerating the proposals one--after-another is not the most useful way to provide a comparative point of view. Accordingly, we present a more convenient strategy to survey the different approaches. We divide the problem of detecting pedestrians from images into different processing steps, each with attached responsibilities. Then, the different proposed methods are analyzed and classified with respect to each processing stage, favoring a comparative viewpoint. Finally, discussion of the important topics is presented, putting special emphasis on the future needs and challenges.

http://www.cvc.uab.es/~asappa/publications/J__IEEE_PAMI_vol_32_Issue_7_July_2010.pdf

Survey of Pedestrian Detection for Advanced Driver Assistance Systems

A system and method in a building or vehicle for an actuator operation in response to a sensor according to a control logic, the system comprising a router or a gateway communicating with a device associated with the sensor and a device associated with the actuator over in-building or in-vehicle networks, and an external Internet-connected control server associated with the control logic implementing a PID closed linear control loop and communicating with the router over external network for controlling the in-building or in-vehicle phenomenon. The sensor may be a microphone or a camera, and the system may include voice or image processing as part of the control logic. A redundancy is used by using multiple sensors or actuators, or by using multiple data paths over the building or vehicle internal or external communication. The networks may be wired or wireless, and may be BAN, PAN, LAN, WAN, or home networks.

System and method for server based control

A vehicular vision system includes a camera having a lens and a CMOS photosensor array having a plurality of photosensor elements. The camera is disposed at an interior portion of a vehicle equipped with the vehicular vision system. The camera one of (i) views exterior of the equipped vehicle through the windshield of the equipped vehicle and forward of the equipped vehicle and (ii) views from the windshield of the equipped vehicle into the interior cabin of the equipped vehicle. A control includes an image processor that processes image data captured by the photosensor array. The image processor processes captured image data to detect an object viewed by the camera. The photosensor array is operable at a plurality of exposure periods and at least one exposure period of the plurality of exposure periods is dynamically variable.

Vehicular vision system

An image processing apparatus for tracking faces in an image stream iteratively receives an acquired image from the image stream including one or more face regions. The acquired image is sub-sampled at a specified resolution to provide a sub-sampled image. An integral image is then calculated for a least a portion of the sub-sampled image. Fixed size face detection is applied to at least a portion of the integral image to provide a set of candidate face regions. Responsive to the set of candidate face regions produced and any previously detected candidate face regions, the resolution is adjusted for sub-sampling a subsequent acquired image.

Real-time face tracking in a digital image acquisition device

A method of processing a digital image using face detection within the image achieves one or more desired image processing parameters. A group of pixels is identified that correspond to an image of a face within the digital image. Default values are determined of one or more parameters of at least some portion of the digital image. Values are adjusted of the one or more parameters within the digitally-detected image based upon an analysis of the digital image including the image of the face and the default values.

Digital Image Processing Using Face Detection Information

In an image conversion method and apparatus, luminance Y3 of each pixel of a converted image is obtained by use of an expression Y3=C1Y1+C2Y2 and from luminance Y1 of a corresponding pixel of a source image, luminance Y2 of a corresponding pixel of a low frequency image, and C1 and C2 which are functions of the luminance Y2 Since C1+C2 is constant when Y2<=T2, contrast of a low frequency component can be prevented from decreasing In a portion in which the luminance Y2 of the low frequency image is low, the low frequency image is enhanced In a portion in which the luminance Y2 of the low frequency image is high, the low frequency image is suppressed In a method and apparatus for detecting noise level of an original signal in real time, a plurality of local regions are set on an input image in such a manner that the local regions are distributed uniformly over the entire area of an image In each local region, determination as to whether or not luminance is saturated is performed Variation in luminance is detected in each of a plurality of unsaturated local regions Noise level is determined on the basis of the detected variation

Image processing method and apparatus

A single-photon avalanche diode (SPAD) with enhanced near-infrared (NIR) sensitivity has been developed, based on 0.18 μm CMOS technology, for use in future automotive light detection and ranging (LIDAR) systems. The newly proposed SPAD operating in Geiger mode achieves a high NIR photon detection efficiency (PDE) without compromising the fill factor (FF) and a low breakdown voltage of approximately 20.5 V. These properties are obtained by employing two custom layers that are designed to provide a full-depletion layer with a high electric field profile. Experimental evaluation of the proposed SPAD reveals an FF of 33.1% and a PDE of 19.4% at 870 nm, which is the laser wavelength of our LIDAR system. The dark count rate (DCR) measurements shows that DCR levels of the proposed SPAD have a small effect on the ranging performance, even if the worst DCR (12.7 kcps) SPAD among the test samples is used. Furthermore, with an eye toward vehicle installations, the DCR is measured over a wide temperature range of 25–132 °C. The ranging experiment demonstrates that target distances are successfully measured in the distance range of 50–180 cm.

https://www.mdpi.com/1424-8220/16/4/459/pdf

Single-Photon Avalanche Diode with Enhanced NIR-Sensitivity for Automotive LIDAR Systems.

This paper presents a method of pedestrian detection for automobile applications, based on stereo vision. Vision based pedestrian detection presents a difficulty due to the diversity of appearances. The proposed method overcomes the difficulty mainly through the following two contributions. Firstly, employing four directional features with the classifier increases the robustness against small affine deformation of objects. Secondly, by merging classification and tracking, robustness against temporal change of appearance is improved when considering temporal continuity of classification score. The experiments, performed on approximately 16 minutes of video sequences, confirmed that the method can detect pedestrians with low false detection.

Pedestrian Detection with Stereo Vision

A composite image-generating device includes: a geometric transformation table that assigns coordinates corresponding to positions of pixels of an output image on an input image received from a capturing section; and an output image-generating section that generates the output image by superimposing an overlay image based on overlay data associated with the positions of the pixels of the output image in the geometric transformation table on an image obtained by geometrically transforming the input image according to the geometric transformation table.

Composite image-generating device and computer-readable medium storing program for causing computer to function as composite image-generating device

We present our third prototype sensor and a localization method for Automated Guided Vehicles (AGVs), for which small imaging LIght Detection and Ranging (LIDAR) and fusion-based localization are fundamentally important. Our small imaging LIDAR, named the Single-Photon Avalanche Diode (SPAD) LIDAR, uses a time-of-flight method and SPAD arrays. A SPAD is a highly sensitive photodetector capable of detecting at the single-photon level, and the SPAD LIDAR has two SPAD arrays on the same chip for detection of laser light and environmental light. Therefore, the SPAD LIDAR simultaneously outputs range image data and monocular image data with the same coordinate system and does not require external calibration among outputs. As AGVs travel both indoors and outdoors with vibration, this calibration-less structure is particularly useful for AGV applications. We also introduce a fusion-based localization method, named SPAD DCNN, which uses the SPAD LIDAR and employs a Deep Convolutional Neural Network (DCNN). SPAD DCNN can fuse the outputs of the SPAD LIDAR: range image data, monocular image data and peak intensity image data. The SPAD DCNN has two outputs: the regression result of the position of the SPAD LIDAR and the classification result of the existence of a target to be approached. Our third prototype sensor and the localization method are evaluated in an indoor environment by assuming various AGV trajectories. The results show that the sensor and localization method improve the localization accuracy.

Mitsuhiko Ohta

Papers

Image processing method and apparatus

Single-Photon Avalanche Diode with Enhanced NIR-Sensitivity for Automotive LIDAR Systems.

Pedestrian Detection with Stereo Vision

Composite image-generating device and computer-readable medium storing program for causing computer to function as composite image-generating device

Small Imaging Depth LIDAR and DCNN-Based Localization for Automated Guided Vehicle.