Abstract-In this paper, detection of pedestrians using "subtraction stereo" is discussed. Subtraction stereo is a stereo vision method that focuses on the movement of objects to make a stereo camera robust and produces range images for moving regions. Features of pedestrians such as 3D position, height and width are obtained from range images obtained by subtraction stereo. Then a simple method to remove shadows is proposed. The basic algorithm of the subtraction stereo is implemented on a commercially available stereo camera, and the effectiveness of the method to detect pedestrians with removal of shadows is verified by experiments using the stereo camera.

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Improvement of the range image sensor that integrates active and passive methods using multiple spotlights and a stereo camera

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