A Fast and Robust Pedestrian Detection Framework Based on Static and Dynamic Information

With the powerful development of pedestrian detection technique based on sliding-window and machine-learning, detection-based tracking systems have become increasingly popular. Most of these systems rely on existing static pedestrian detectors only despite the obvious potential motion information for people detection. This paper proposes a novel pedestrian detection framework fusing static and dynamic features. Motion cue is firstly used to detect potential pedestrian regions. Secondly, static detector scans potential regions to get candidate pedestrian detections. Final detection results are improved by removing false detections based on their motion distribution. The proposed framework significantly raises detection speed and detection performance. Static detector of pedestrian in this paper is trained by AdaBoost with simplified HOG feature (1HOG). Additionally, we introduce a detection-window-pyramid based scanning strategy for quickly extracting 1HOG features. The experimental results on several public data sets show the effectiveness of the proposed approach.