Pedestrian detecting system

Patent metadata

Field	Value
Publication number	US-2016188967-A1
Application number	US-201414586908-A
Country	US
Kind code	A1
Filing date	Dec 30, 2014
Priority date	Dec 30, 2014
Publication date	Jun 30, 2016
Grant date	—

Abstract

A pedestrian detecting system includes a depth capturing unit, an image capturing unit and a composite processing unit. The depth capturing unit is configured to detect and obtain spatial information of a target object. The image capturing unit is configured to capture an image of the target object and recognize the image, thereby obtaining image feature information of the target object. The composite processing unit is electrically connected to the depth capturing unit and the image capturing unit, wherein the composite processing unit is configured to receive the spatial information and the image feature information and to perform a scoring scheme to detect and determine if the target object is a pedestrian. The scoring scheme performs weighted scoring on a spatial confidence and an appearance confidence to obtain a composite scoring value to determine if the target object is the pedestrian.

First claim

What is claimed is:

1 . A pedestrian detecting system, comprising:
a depth capturing unit configured to detect and obtain spatial information of a target object; an image capturing unit configured to capture an image of the target object and recognize the image, thereby obtaining image feature information of the target object; and a composite processing unit electrically connected to the depth capturing unit and the image capturing unit, wherein the composite processing unit is configured to receive the spatial information and the image feature information and to perform a scoring scheme to detect and determine if the target object is a pedestrian; wherein an appearance confidence is obtained through data transformation of the image feature information, and a spatial confidence is obtained through data transformation of the spatial information, and the scoring scheme performs weighted scoring on the spatial confidence and the appearance confidence to obtain a composite scoring value to determine if the target object is the pedestrian.

2 . The pedestrian detecting system of claim 1 , further comprising a dynamically illuminated object detector configured to obtain an ideal-illuminated image region of the target object recognized by the image capturing unit, and to retain the image feature information of the ideal-illuminated image region.

3 . The pedestrian detecting system of claim 2 , wherein the dynamically illuminated object detector obtains the ideal-illuminated image region by using a Histogram of Oriented Gradient (HOG) and a Logarithm Weighted Pattern (LWP).

4 . The pedestrian detecting system of claim 3 , wherein the operation of the Logarithm Weighted Pattern comprises capturing an image intensity variance of the target object, performing a logarithm operation and obtaining a portion of the image feature information.

5 . The pedestrian detecting system of claim 1 , wherein the spatial information comprises a coordinate of the target object and a distance between the target object and a vehicle.

6 . The pedestrian detecting system of claim 5 , wherein the scoring scheme uses a Gaussian function to obtain a matching probability between the image of the target object and the distance, thereby obtaining the spatial confidence.

7 . The pedestrian detecting system of claim 1 , wherein the pedestrian detecting system is applied to an environment with a luminance greater than 10 lux.

8 . A pedestrian detecting system, comprising:
a depth capturing unit configured to detect and obtain spatial information of a target object; an image capturing unit configured to capture an image of the target object and recognize the image, thereby obtaining image feature information of the target object; a dynamically illuminated object detector configured to obtain an ideal-illuminated image region of the target object recognized by the image capturing unit according to a relative luminance intensity of the image of the target object, and to retain the image feature information of the ideal-illuminated image region; and a composite processing unit electrically connected to the depth capturing unit and the image capturing unit, wherein the composite processing unit is configured to receive the spatial information and the image feature information, and to perform a scoring scheme to detect and determine if the target object is a pedestrian; wherein an appearance confidence is obtained through data transformation of the image feature information, and a spatial confidence is obtained through data transformation of the spatial information, and the scoring scheme performs weighted scoring on the spatial confidence and the appearance confidence to obtain a composite scoring value to determine if the target object is the pedestrian.

9 . The pedestrian detecting system of claim 8 , wherein the pedestrian detecting system is applied to an environment with a luminance greater than 10 lux.

10 . The pedestrian detecting system of claim 8 , wherein the dynamically illuminated object detector obtains the ideal-illuminated image region through a Histogram of Oriented Gradient (HOG) and a Logarithm Weighted Pattern (LWP).

Assignees

• Automotive Res & Testing Ct

Inventors

• Chang Kuo-Ching
• Liao Yu-Sheng
• Huang Pang-Ting
• Chan Yi-Ming
• Fu Li-Chen
• Hsiao Pei-Yung

Classifications

• G06V10/60

  relating to illumination properties, e.g. using a reflectance or lighting model · CPC title

• G06V10/50

  by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis · CPC title

• G06V10/467

  Encoded features or binary features, e.g. local binary patterns [LBP] · CPC title

• G06K9/52

  Physics · mapped topic

• G06K9/4642

  Physics · mapped topic