Extraction of Road Region Using Stereo Images
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 1 - Volume 1
A Complete U-V-Disparity Study for Stereovision Based 3D Driving Environment Analysis
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Histograms of Oriented Gradients for Human Detection
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Robust Multiperson Tracking from a Mobile Platform
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Stixel World - A Compact Medium Level Representation of the 3D-World
Proceedings of the 31st DAGM Symposium on Pattern Recognition
A Fast Stereo-based System for Detecting and Tracking Pedestrians from a Moving Vehicle
International Journal of Robotics Research
Pedestrian detection at 100 frames per second
CVPR '12 Proceedings of the 2012 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
Stixels motion estimation without optical flow computation
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VI
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Applications using pedestrian detection in street scene require both high speed and quality. Maximal speed is reached when exploiting the geometric information provided by stereo cameras. Yet, extracting useful information at speeds higher than 100 Hz is a non-trivial task. We propose a method to estimate the ground-obstacles boundary (and its distance), without computing a depth map. By properly parametrizing the search space in the image plane we improve the algorithmic performance, and reach speeds of $200\ \mbox{Hz}$ on a desktop CPU. When connected with a state of the art GPU objects detector, we reach high quality detections at the record speed of $165\ \mbox{Hz}$.