Integral Line Scan Features for Pedestrian Detection

This paper presents a novel approach for pedestrian detection using oriented line scans of gradients computed from a gray level image. Three feature types are proposed that can be generated easily from oriented gradients and an effective use of integral lines and integral images. A scalable cascaded classifier is built by combining oriented gradients with the oriented line scan features in a boosting framework. The detector´s performance is comparable to the state of the art results and achieves about 3 to 5 fps on 320 x 240 resolution images making the proposed method suitable for real time applications. Detector performance is also represented as PUR, percentage of uncertainty removed.