Thermal images are mainly used to detect the presence of people at night or in bad lighting conditions, but perform poorly at daytime. To solve this problem, most state-of-theart techniques employ a fusion network that uses features from paired thermal and color images. Instead, we propose to augment thermal images with their saliency maps, to serve as an attention mechanism for the pedestrian detector especially during daytime. We investigate how such an approach results in improved performance for pedestrian detection using only thermal images, eliminating the need for paired color images. For our experiments, we train the Faster R-CNN for pedestrian detection and report the added effect of saliency maps generated using static and deep methods (PiCA-Net and R 3 -Net). Our best performing model results in an absolute reduction of miss rate by 13.4% and 19.4% over the baseline in day and night images respectively. We also annotate and release pixel level masks of pedestrians on a subset of the KAIST Multispectral Pedestrian Detection dataset, which is a first publicly available dataset for salient pedestrian detection.

No abstract

This paper presents a fast obstacle detection algorithm for mobile robots that uses a single color camera as the only sensor to detect unknown obstacles in an environment. The algorithm uses color HSV histograms to classify each individual pixel as belonging either to an obstacle, or the ground based on its appearance. The system is capable of performing high speed obstacle detection on both uniform and multicolored terrains.

No abstract

No abstract