A Time Delay Neural Network Algorithm for Real-Time Pedestrian Recognition

|In this paper we present an algorithm for recognizing walking pedestrians in sequences of grayscale stereo images taken from a moving camera pair. The method has been designed for use in a driver assistance system for the inner city environment warning the car driver of tra c participants that might cause dangerous situations. Our algorithm is divided into two parts: First, a preliminary detection and tracking stage consisting of a real-time stereo algorithm yields image regions possibly containing a pedestrian. During the subsequent classi cation stage, these temporal sequences of regions of interest are classi ed by a feed-forward time delay neural network (TDNN) with spatio-temporal receptive elds. It is possible to stabilize the recognition process by integrating feedback loops into the TDNN architecture. The complete detection and recognition algorithm runs at a speed of about 70 ms per cycle on a Power PC