Comparative evaluation of pedestrian detection methods for mobile bus surveillance

We present a comparative evaluation of the state-of-art algorithms for detecting pedestrians in low frame rate and low resolution footage acquired by mobile sensors. Four approaches are compared: a) The Histogram of Oriented Gradient (HoG) approach; b) A new histogram feature that is formed by the weighted sum of both the gradient magnitude and the filter responses from a set of elongated Gaussian filters corresponding to the quantised orientation, called histogram of oriented gradient Banks (HoGB) approach; c) The codebook based HoG feature with branch-and-bound (efficient subwindow search) algorithm and; d) The codebook based HoGB approach. Results show that the HoG based detector achieves the highest performance in terms of the true positive detection, the HoGB approach has the lowest false positives whilst maintaining a comparable true positive rate to the HoG, and the codebook approaches allow computationally efficient detection.