Pedestrian detection using labeled depth data

This paper presents pedestrian detection algorithm on labeled depth data which is obtained from road scenes. Our approach computes feature responses for head and legs of human body using depth and label data. And then, it detects pedestrians by removing edges and partitioning a bipartite graph of head and leg response blobs using prior knowledge about human body. In the experiments, the proposed algorithm produces better result compared to the method which uses histogram of gradient feature and the ground plane for road scenes.