Learning Framework for Robust Obstacle Detection, Recognition, and Tracking

Abstract

This paper introduces a general framework for detection, recognition, and tracking preceding vehicles and pedestrians based on a deep learning approach. The proposed framework combines a novel deep learning approach with the use of multiple sources of local patterns and depth information to yield robust on-road vehicle and pedestrian detection, recognition, and tracking. The proposed system is first based on robust obstacle detection to identify obstacles appearing along the road that are likely to be vehicles and pedestrians, implemented as an efficient adaptive U-V disparity algorithm. Second, the results from the obstacle detection stage are input into a novel vehicle and pedestrian recognition system based on a deep learning model that processes multiple sources of depth information and local patterns. Finally, the results from the recognition stage are used to track detected vehicles or pedestrians in the next frame by means of a proposed tracking and validation model. The proposed framework has been thoroughly evaluated by inputting several vehicle and pedestrian data sets that were collected under various driving conditions. Experimental results show that this framework provides robust vehicle and pedestrian detection, recognition, and tracking with high accuracy, and also satisfies the real-time requirements of driver assistance systems.