Pedestrian Detection by means of Far-infrared Stereo Vision

This article presents a stereo system for the detection of pedestrians using far-infrared cameras. Since pedestrian detection in far-infrared images can be difficult in some environmental conditions, the system exploits three different detection approaches: warm area detection, edge-based detection, and disparity computation. A final validation process is performed using head morphological and thermal characteristics. Currently, neither temporal correlation, nor motion cues are used in this processing. The developed system has been implemented on an experimental vehicle equipped with two infrared cameras and preliminarily tested in different situations.