High-performance and deep pedestrian detection based on estimation of different parts

Pedestrian detection, despite the recent advances, still is of a great challenge to computer vision in wide range of diversified applications such as urban autonomous driving and intelligent transportation. Deep convolutional neural network has greatly contributed to the recent advances in pedestrian detection algorithms. The aim of this paper is to use modified single-shot detector (SSD) approach in pedestrian detection and then improve it by a novel deep architecture. The proposed deep architecture extracts initial Region of Interests (RoIs) using SSD approach, while it employs nine parallel fast RCNNs based on inception modules to estimate nine different parts of body. The proposed method takes the advantage of a secure border in each initial RoI to both create an Extended Region of Candidate Pedestrian (ERCP) and also to extract multi-RoIs. It then selects a number of RoIs within the ERCP as detected pedestrians which satisfy few reasonable criteria. We also propose a new training approach based on different body parts estimation which searches the best RoIs. Comprehensive experimental results demonstrate that the proposed method, deep model based on parts in pedestrian proposals, is a highly effective method that achieves very competitive performance on two most popular pedestrian detection datasets: Caltech-USA and INRIA. We have improved the log-average miss rate on the Caltech-USA and INRIA pedestrian datasets to 7.28% and 4.96%, respectively.