METHOD AND APPARATUS FOR FILTERING REGIONS OF INTEREST FOR VEHICLE-MOUNTED THERMAL IMAGING PEDESTRIAN DETECTION

摘要

Disclosed are a method and apparatus for filtering regions of interest (RoIs) for vehicle-mounted thermal imaging pedestrian detection. The method for filtering RoIs refers to a method for filtering out non-pedestrian RoIs by designing three layers of cascaded filters: in the first layer, by means of calculating pedestrian pixel heights and aspect ratios of RoIs and setting corresponding threshold intervals, filtering out RoIs of abnormal sizes; in the second layer, respectively calculating a vertical distance between upper and lower boundaries of each of the RoIs one by one and a current image pavement reference, and calculating threshold values based on pixel heights of the RoIs, so as to filter out RoIs with abnormal locations; and in the third layer, searching for a possible pedestrian head region according to a luminance vertical projection difference curve of each of the RoIs, and comparing the degree of difference between Haar-like features of the head region and those of an adjacent background region, so as to filter out RoIs without pedestrian heads. By means of the method, on the premise that pedestrian detection accuracy is considered, the calculation overhead of pedestrian detection can be reduced, and the scene adaptability of a classifier can be improved. The apparatus for filtering RoIs comprises a filter for RoIs of abnormal sizes, a filter for RoIs with abnormal locations and a filter for RoIs without heads.