Pose Robust Human Detection in Depth Image Using Four Directional 2D Elliptical Filters

This paper proposes a pose robust human detection method for sequences of stereo images using four directional 2D elliptical filters (4D2DEFs), which can detect humans regardless of scale and pose. Four 2D elliptical filters with specific orientations are applied to a 2D spatial depth histogram, and threshold values are used to detect human candidates. These candidates are verified by either detecting the face or matching head-shoulder shapes. Experimental results show that human detection using the proposed method outperforms that of using the existing Object Oriented Scale Adaptive Filter (OOSAF) by 15~20%, especially in the case of posed humans.