Robust pedestrian detection and tracking from a moving vehicle

Nguyen Xuan Tuong, Thomas Müller, Alois Knoll

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations


In this paper, we address the problem of multi-person detection, tracking and distance estimation in a complex scenario using multi-cameras. Specifically, we are interested in a vision system for supporting the driver in avoiding any unwanted collision with the pedestrian. We propose an approach using Histograms of Oriented Gradients (HOG) to detect pedestrians on static images and a particle filter as a robust tracking technique to follow targets from frame to frame. Because the depth map requires expensive computation, we extract depth information of targets using Direct Linear Transformation (DLT) to reconstruct 3D-coordinates of correspondent points found by running Speeded Up Robust Features (SURF) on two input images. Using the particle filter the proposed tracker can efficiently handle target occlusions in a simple background environment. However, to achieve reliable performance in complex scenarios with frequent target occlusions and complex cluttered background, results from the detection module are integrated to create feedback and recover the tracker from tracking failures due to the complexity of the environment and target appearance model variability. The proposed approach is evaluated on different data sets both in a simple background scenario and a cluttered background environment. The result shows that, by integrating detector and tracker, a reliable and stable performance is possible even if occlusion occurs frequently in highly complex environment. A vision-based collision avoidance system for an intelligent car, as a result, can be achieved.

Original languageEnglish
Title of host publicationProceedings of SPIE-IS and T Electronic Imaging - Intelligent Robots and Computer Vision XXVIII
Subtitle of host publicationAlgorithms and Techniques
StatePublished - 2011
EventIntelligent Robots and Computer Vision XXVIII: Algorithms and Techniques - San Francisco, CA, United States
Duration: 24 Jan 201125 Jan 2011

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X


ConferenceIntelligent Robots and Computer Vision XXVIII: Algorithms and Techniques
Country/TerritoryUnited States
CitySan Francisco, CA


  • Direct linear transformation
  • Histograms of oriented gradients
  • Particle filter
  • Speeded up robust features


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