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Object detection in embedded systems is important for many contemporary applications that involve vision and scene analysis. In this paper, we propose a novel architecture for object detection implemented in FPGA, based on the Stripe Memory Engine (SME), and point out shortcomings of existing architectures. SME processes a stream of image data so that it stores a narrow stripe of the input image and its scaled versions and uses a detector unit which is efficiently pipelined across multiple image positions within the SME. We show how to process images with up to 4K resolution at high frame rates using cascades of SMEs. As a detector algorithm, the SMEs use boosted soft cascade with simple image features that require only pixel comparisons and look-up tables; therefore, they are well suitable for hardware implemenation. We describe the components of our architecture and compare it to several published works in several configurations. As an example, we implemented face detection and license plate detection applications that work with HD images ($1280\times 720$ pixels) running at over 60 frames/s on Xilinx Zynq platform. We analyzed their power consumption, evaluated the accuracy of our detectors, and compared them to Haar Cascades from OpenCV that are often used by other authors. We show that our detectors offer better accuracy as well as performance at lower power consumption. [ABSTRACT FROM AUTHOR]

To facilitate object localization, the existing convolutional neural network (CNN)-based object detection often requires an object proposal method, which, however, may produce inaccurate region proposals and thus impact the performance. To overcome this setback, this paper presents a novel iterative localization refinement method which, undertaken at a mid-layer of a CNN architecture, progressively refines a subset of region proposals in order to match as much ground-truth as possible. In each iteration, the refinement task is cast into a probabilistic framework based on an ingeniously devised probability function. To expedite the computation of the probability function, a divide-and-conquer paradigm is developed by the theorem of total probability. Moreover, an approximate variant based on a refined sampling strategy is also addressed to further reduce the complexity. The proposed ILR method is not only data-driven and free of learning, but it can also be incorporated with many existing CNN-based object detection algorithms, such as Faster R-CNN to enhance the detection accuracy without changing their configurations. Simulations show that the proposed method can improve the main state-of-the-art works on the PASCAL VOC 2007, 2012 and Youtube-Objects data sets. [ABSTRACT FROM AUTHOR]

Compared with other applications in computer vision, convolutional neural networks (CNNs) have underperformed on pedestrian detection. A breakthrough was made very recently using sophisticated deep CNN (DCNN) models, with a number of handcrafted features or explicit occlusion handling mechanism. In this paper, we show that by reusing the convolutional feature maps of a DCNN model as image features to train an ensemble of boosted decision models, we are able to achieve the best reported accuracy without using specially designed learning algorithms. We empirically identify and disclose important implementation details. We also show that pixel labeling may be simply combined with a detector to boost the detection performance. By adding complementary handcrafted features such as optical flow, the DCNN-based detector can be further improved. We advance the state-of-the-art results by lowering the log-average miss rate from 11.7% to 8.9% on the Caltech data set and from 11.2% to 8.6% on the Inria data set. We also achieve a comparable result to state-of-the-art approaches on the KITTI data set. [ABSTRACT FROM AUTHOR]

Pedestrian detection is an important yet challenging task. In this paper, a pedestrian codetection framework for binocular stereo sequences is proposed. Binocular vision and consecutive frames can provide more information than a single image. That information can be used to improve detection performance by reducing the number of candidate detection windows with low confidence or enhancing the high-confidence candidates. To design the framework, we follow the intuition that a pedestrian has consistent appearance when observed from the same or different viewpoints. First, a baseline detector is used in both stereo images with a conservative threshold in order to expand the set of detection candidates. Before the detection process, an assisted stixel world model is computed for both left and right frames. Thus, the search range of the detector is greatly reduced with the help of the stixel world. Second, adjacency-constrained patch matching is proposed to build correspondence between two candidates in both intra and inter sequences of binocular vision. Finally, we establish a mechanism to update the score of the detection aided by the corresponding candidates. The experimental results show that our framework significantly improves the performance of the evaluated baseline pedestrian approaches. [ABSTRACT FROM AUTHOR]