Detection of Pedestrians Using Subtraction Stereo

In this paper, detection of pedestrians using ldquosubtraction stereordquo is discussed. Subtraction stereo is a stereo vision method that focuses on the movement of objects to make a stereo camera robust and produces range images for moving regions. Features of pedestrians such as 3D position, height and width are obtained from range images obtained by subtraction stereo. Then a simple method to remove shadows is proposed. The basic algorithm of the subtraction stereo is implemented on a commercially available stereo camera, and the effectiveness of the method to detect pedestrians with removal of shadows is verified by experiments using the stereo camera.