Real time pedestrian detection by fusing PMD and CMOS cameras

In this work we present the preliminary results of the fusion of photonic mixer device - PMD and CMOS cameras for driver assistance applications. Although the algorithms are demonstrated mainly for pedestrians, they apply to the other objects on the street. PMD camera delivers the 3D object list. Object coordinates are further projected into CMOS image plane where classification is performed using support vector machines. As compared to PMD camera the CMOS camera has higher resolution, which gives the possibility to realize finer object detection, separation and classification. As the feature vector we use quadruple haar discrete wavelet transformation (QH DWT). The speed improvement of the SVM in the testing phase (necessary for real-time implementation) is realized with Burgpsilas reduced set vector method (BRSVM), improving classification speed nearly 70 times. We have achieved the pedestrian detection rate of 80%.