Distant Pedestrian Re-detection from an In-vehicle Camera Based on Detections by Other Vehicles

In this paper, we propose the re-detection paradigm, which is a detection with prior knowledge of the detection target, and we introduce an implementation of the re-detection for pedestrian detection from an in-vehicle camera. We focus on the fact that other vehicles can observe and detect pedestrians before the own vehicle observes them. Here, other vehicles include forward vehicles. Since appearances of pedestrians do not significantly change even though their locations are different, sharing images of the detected pedestrians within the vehicles, the own vehicle can use them as prior knowledge for detecting them again. Results on applying the proposed method to a dataset obtained by an in-vehicle camera demonstrate that the accuracy of pedestrian detection results can be significantly increased if prior knowledge of the pedestrians could be obtained.