Real-time object detection for “smart” vehicles

This paper presents an efficient shape-based object detection method based on Distance Transforms and describes its use for real-time vision on-board vehicles. The method uses a template hierarchy to capture the variety of object shapes; efficient hierarchies can be generated offline for given shape distributions using stochastic optimization techniques (i.e. simulated annealing). Online, matching involves a simultaneous coarse-to-fine approach over the shape hierarchy and over the transformation parameters. Very large speed-up factors are typically obtained when comparing this approach with the equivalent brute-force formulation; we have measured gains of several orders of magnitudes. We present experimental results on the real-time detection of traffic signs and pedestrians from a moving vehicle. Because of the highly time sensitive nature of these vision tasks, we also discuss some hardware-specific implementations of the proposed method as far as SIMD parallelism is concerned