A Symmetry Search and Filtering Algorithm for Vision Based Pedestrian Detection System

In this paper we present a fast symmetry search and filtering algorithm for monocular vision based pedestrian candidate detection application. First the ROI of symmetry search is focused on the pedestrian leg region, where the background is relatively simple ground plane. Afterward, the search region is divided into 2 × 4 sub blocks and symmetry density and distribution of each sub block is calculated. Finally, by comparing the symmetry density and distribution of the sub blocks, the correct symmetry axis of the pedestrian candidate is search and also some no-pedestrian candidates are filtered out. The results shown in this method are fast, cost effective and well suited for real-time vision applications.