Comparison of granules features for pedestrian detection

Pedestrian detection is an important part of intelligent transportation systems. In the literature, Histogram of Oriented Gradients (HOG) detector for pedestrian detection is known for its good performance, but there are still some false detections appearing in the cases with flat area or clustered background. To deal with these problems, in this research work we develop a new feature which is based on pairing comparison computations, called Comparison of Granules (CoG). The idea of CoG is to encode the textural information of local area describing how different the pixel intensities are distributed within a region. It is shown that the special characteristics of CoG feature are "small" and "efficiency" relative to HOG. By incorporating this new feature, we propose a HOG-CoG detector which through our validation experiment achieves 38% log-average miss rate in full image evaluation and 90% detection rate at 10^-4 false positives per window on INRIA Person Dataset. Another contribution of this work is that, we also present a training scheme that can be applied on huge database for training a detector. Such training scheme can reduce the number of hard samples during bootstrap training.