To better detect pedestrians of various scales, deep multi-scale methods usually detect pedestrians of different scales by different in-network layers. However, the semantic levels of features from different layers are usually inconsistent. In this paper, we propose a multi-branch and high-level semantic network by gradually splitting a base network into multiple different branches. As a result, the different branches have the same depth and the output features of different branches have similarly high-level semantics. Due to the difference of receptive fields, the different branches are suitable to detect pedestrians of different scales. Meanwhile, the multi-branch network does not introduce additional parameters by sharing convolutional weights of different branches. To further improve detection performance, skip-layer connections among different branches are used to add context to the branch of relatively small receptive filed, and dilated convolution is incorporated into part branches to enlarge the resolutions of output feature maps. When they are embedded into Faster RCNN architecture, the weighted scores of proposal generation network and proposal classification network are further proposed. Experiments on KITTI dataset, Caltech pedestrian dataset, and Citypersons dataset demonstrate the effectiveness of proposed method. On these pedestrian datasets, the proposed method achieves state-of-the-art detection performance. Moreover, experiments on COCO benchmark show the proposed method is also suitable for general object detection.
At the first few years, handcrafted channel features based method is main stream. It firstly converts the color image into ten image channels (i.e., HOG+LUV), then extracts local features (e.g., @cite_28 @cite_11 @cite_54 @cite_29 @cite_8 ) or non-local features (e.g., @cite_12 ), and finally trains the cascade AdaBoost classifier. To further accelerate detection speed, Doll 'a r @cite_37 proposed to only calculate some channels of sparse scales and approximate other channels by nearby channels. Benenson @cite_4 proposed to train multiple detectors to detect pedestrians of different scales without image rescaling.
@cite_37 @cite_4 @cite_8 @cite_28 @cite_54 @cite_29 @cite_12 @cite_11
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We present a new pedestrian detector that improves both in speed and quality over state-of-the-art. By efficiently handling different scales and transferring computation from test time to training time, detection speed is improved. When processing monocular images, our system provides high quality detections at 50 fps. We also propose a new method for exploiting geometric context extracted from stereo images. On a single CPU+GPU desktop machine, we reach 135 fps, when processing street scenes, from rectified input to detections output. We study the performance of ‘integral channel features’ for image classification tasks, focusing in particular on pedestrian detection. The general idea behind integral channel features is that multiple registered image channels are computed using linear and non-linear transformations of the input image, and then features such as local sums, histograms, and Haar features and their various generalizations are efficiently computed using integral images. Such features have been used in recent literature for a variety of tasks – indeed, variations appear to have been invented independently multiple times. Although integral channel features have proven effective, little effort has been devoted to analyzing or optimizing the features themselves. In this work we present a unified view of the relevant work in this area and perform a detailed experimental evaluation. We demonstrate that when designed properly, integral channel features not only outperform other features including histogram of oriented gradient (HOG), they also (1) naturally integrate heterogeneous sources of information, (2) have few parameters and are insensitive to exact parameter settings, (3) allow for more accurate spatial localization during detection, and (4) result in fast detectors when coupled with cascade classifiers. Encouraged by the recent progress in pedestrian detection, we investigate the gap between current state-of-the-art methods and the "perfect single frame detector". We enable our analysis by creating a human baseline for pedestrian detection (over the Caltech dataset), and by manually clustering the recurrent errors of a top detector. Our results characterize both localization and background-versus-foreground errors. To address localization errors we study the impact of training annotation noise on the detector performance, and show that we can improve even with a small portion of sanitized training data. To address background foreground discrimination, we study convnets for pedestrian detection, and discuss which factors affect their performance. Other than our in-depth analysis, we report top performance on the Caltech dataset, and provide a new sanitized set of training and test annotations. This paper starts from the observation that multiple top performing pedestrian detectors can be modelled by using an intermediate layer filtering low-level features in combination with a boosted decision forest. Based on this observation we propose a unifying framework and experimentally explore different filter families. We report extensive results enabling a systematic analysis. Using filtered channel features we obtain top performance on the challenging Caltech and KITTI datasets, while using only HOG+LUV as low-level features. When adding optical flow features we further improve detection quality and report the best known results on the Caltech dataset, reaching 93 recall at 1 FPPI. Most state-of-the-art methods in pedestrian detection are unable to achieve a good trade-off between accuracy and efficiency. For example, ACF has a fast speed but a relatively low detection rate, while checkerboards have a high detection rate but a slow speed. Inspired by some simple inherent attributes of pedestrians (i.e., appearance constancy and shape symmetry), we propose two new types of non-neighboring features: side-inner difference features (SIDF) and symmetrical similarity features (SSFs). SIDF can characterize the difference between the background and pedestrian and the difference between the pedestrian contour and its inner part. SSF can capture the symmetrical similarity of pedestrian shape. However, it is difficult for neighboring features to have such above characterization abilities. Finally, we propose to combine both non-neighboring features and neighboring features for pedestrian detection. It is found that non-neighboring features can further decrease the log-average miss rate by 4.44 . The relationship between our proposed method and some state-of-the-art methods is also given. Experimental results on INRIA, Caltech, and KITTI data sets demonstrate the effectiveness and efficiency of the proposed method. Compared with the state-of-the-art methods without using CNN, our method achieves the best detection performance on Caltech, outperforming the second best method (i.e., checkerboards) by 2.27 . Using the new annotations of Caltech, it can achieve 11.87 miss rate, which outperforms other methods. Even with the advent of more sophisticated, data-hungry methods, boosted decision trees remain extraordinarily successful for fast rigid object detection, achieving top accuracy on numerous datasets. While effective, most boosted detectors use decision trees with orthogonal (single feature) splits, and the topology of the resulting decision boundary may not be well matched to the natural topology of the data. Given highly correlated data, decision trees with oblique (multiple feature) splits can be effective. Use of oblique splits, however, comes at considerable computational expense. Inspired by recent work on discriminative decorrelation of HOG features, we instead propose an efficient feature transform that removes correlations in local neighborhoods. The result is an overcomplete but locally decorrelated representation ideally suited for use with orthogonal decision trees. In fact, orthogonal trees with our locally decorrelated features outperform oblique trees trained over the original features at a fraction of the computational cost. The overall improvement in accuracy is dramatic: on the Caltech Pedestrian Dataset, we reduce false positives nearly tenfold over the previous state-of-the-art.