Rearview Camera-Based Backover Warning System Exploiting a Combination of Pose-Specific Pedestrian Recognitions

Abstract

This paper proposes a practical backover warning system using a wide-angle rearview camera. The proposed system utilizes simple but cost-effective techniques for pedestrian detection, verification, and tracking to achieve real-time operation. This system first transforms fisheye images via Mercator projection to reduce pedestrian shape variations. Second, it detects pedestrians based on lower and upper body detectors. This is for handling upright and non-upright poses as well as severe occlusions of upper bodies. Then, it confirms pedestrians by checking the existence of feet or a head inside the lower or upper body region. This step ensures that the system achieves a low false alarm rate. Finally, the confirmed pedestrians are visually tracked by fusing generative and discriminative models in a score level. In the experiment, the proposed system was quantitatively evaluated and compared with the previous method.