Autonomous pedestrian detection

In this paper we present a method of detecting and tracking pedestrians from a moving vehicle. We accomplish this by using Histogram of Oriented Gradients (HOG) as a detector and two tracking algorithms, the Kalman filter and the particle filter. The Kalman filter tracks the pedestrians on the road in-front of the vehicle. The particle filter is used to track the pedestrians on the sidewalk or those who are approaching the road from the side, where partial occlusion can occur. By combining these algorithms, we manage to improve the speed and accuracy since the detection algorithm detects the pedestrians, then the tracking algorithm tracks them.