A cascade of boosted generative and discriminative classifiers for vehicle detection

PABLO NEGRI; XAVIER CLADY; SHEHZAD MUHAMMAD HANIF; LIONEL PREVOST

EURASTP JOURNAL AN APPLIED SIGNAL PROCESSING

Hindawi Publishing Corp.

Año: 2008 vol. 2008 p. 1 - 12

1110-8657

We present an algorithm for the on-board vision vehicle detection problem using a cascade of boosted classifiers. Three families of features are compared: the rectangular filters (Haar-like features), the histograms of oriented gradient (HoG), and their combination (a concatenation of the two preceding features). A comparative study of the results of the generative (HoG features), discriminative (Haar-like features) detectors, and of their fusion is presented. These results show that the fusion combines the advantages of the other two detectors: generative classifiers eliminate “easily” negative examples in the early layers of the cascade, while in the later layers, the discriminative classifiers generate a fine decision boundary removing the negative examples near the vehicle model. The best algorithm achieves good performances on a test set containing some 500 vehicle images: the detection rate is about 94% and the false-alarm rate per image is 0.0003.