We present a real-time multisensor architecture for combined laser scanner and infra-red video-based pedestrian detection and tracking used within a road side unit for intersection assistance. In order to achieve outmost classification performance we propose a cascaded classifier using laser scanner hypothesis generation and histogram of oriented gradients (HOG) descriptors for video-based classification together with linear and Gaussian kernel support vector machines (SVM). The entire classification cascade is implemented on a graphics processing unit (GPU). Giving real-time performance top priority, we present novel compute unified device architecture (CUDA) implementations of a selective HOG-based feature extraction and background subtraction based on mixture of Gaussians (MOG). The classification cascade is managed by a multi-core CPU that further performs pedestrian tracking using a linear Kalman filter. Evaluation on an infra-red benchmark database and an experimental study on a real-world intersection used within the Ko-PER project confirm excellent classification and real-time performance around the clock without external illumination.<\/p>\n","protected":false},"excerpt":{"rendered":"
We present a real-time multisensor architecture for combined laser scanner and infra-red video-based pedestrian detection and tracking used within a road side unit for intersection assistance. In order to achieve outmost classification performance we propose a cascaded classifier using laser scanner hypothesis generation and histogram of oriented gradients (HOG) descriptors for video-based classification together with […]<\/p>\n","protected":false},"author":351,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[11,73,89,3],"tags":[451,1782,1791,14,20],"class_list":["post-4879","post","type-post","status-publish","format-standard","hentry","category-computer-science","category-computer-vision","category-nvidia-cuda","category-paper","tag-benchmarking","tag-computer-science","tag-computer-vision","tag-cuda","tag-nvidia"],"views":3064,"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts\/4879","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/users\/351"}],"replies":[{"embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=4879"}],"version-history":[{"count":0,"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts\/4879\/revisions"}],"wp:attachment":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=4879"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=4879"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=4879"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}