结合语义和多层特征融合的行人检测

储珺; 束雯; 周子博; 缪君; 冷璐

doi:10.16383/j.aas.c200032

结合语义和多层特征融合的行人检测

doi: 10.16383/j.aas.c200032

储珺^1,,
束雯^1,,
周子博^1,,
缪君^1,,
冷璐^1,

1.
江西省图像处理与模式识别重点实验室 (南昌航空大学) 南昌 330063

基金项目: 国家自然科学基金 (62162045, 61866028), 江西省重点研发计划项目 (20192BBE50073), 研究生创新基金(YC2018094) 资助

详细信息

作者简介:
储珺：江西省图像处理与模式识别重点实验室(南昌航空大学)教授. 主要研究方向为计算机视觉, 模式识别和深度学习. 本文通信作者. E-mail: chujun99602@163.com

束雯：江西省图像处理与模式识别重点实验室(南昌航空大学)硕士研究生. 主要研究方向为图像处理, 计算机视觉. E-mail: shuwen0418@163.com

周子博：江西省图像处理与模式识别重点实验室(南昌航空大学)硕士研究生. 主要研究方向为图像处理, 计算机视觉. E-mail: abaabc13@163.com

缪君：江西省图像处理与模式识别重点实验室(南昌航空大学)副教授. 主要研究方向为计算机视觉, 3D重建和模式识别. E-mail: miaojun@nchu.edu.cn

冷璐：江西省图像处理与模式识别重点实验室(南昌航空大学)副教授. 主要研究方向为计算机视觉, 模式识别和生物特征模板保护. E-mail: leng@nchu.edu.cn

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出版历程
- 收稿日期: 2020-01-16
- 录用日期: 2020-06-01
- 刊出日期: 2022-01-25

Combining Semantics With Multi-level Feature Fusion for Pedestrian Detection

CHU Jun^1
,,
SHU Wen^1
,,
ZHOU Zi-Bo^1
,,
MIAO Jun^1
,,
LENG Lu^1
,

1.
Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition (Nanchang Hangkong University), Nanchang 330063

Funds: Supported by National Natural Science Foundation of China (62162045, 61866028), Jiangxi Key Research and Development Project (20192BBE50073), Innovation Foundation for Postgraduate (YC2018094)

More Information

Author Bio:
CHU Jun　Professor at Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition (Nanchang Hangkong University). Her research interest covers computer vision, pattern recognition, and deep learning. Corresponding author of this paper

SHU Wen　Master student at Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition (Nanchang Hangkong University). Her research interest covers image processing and computer vision

ZHOU Zi-Bo　Master student at Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition (Nanchang Hangkong University). His research interest covers image processing and computer vision

MIAO Jun　Associate professor at Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition (Nanchang Hangkong University). His research interest covers computer vision, 3D reconstruction, and pattern recognition

LENG Lu　Associate professor at Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition (Nanchang Hangkong University). His research interest covers computer vision, pattern recognition, and biometric template protection

摘要

摘要: 遮挡及背景中相似物干扰是行人检测准确率较低的主要原因. 针对该问题, 提出一种结合语义和多层特征融合(Combining semantics with multi-level feature fusion, CSMFF)的行人检测算法. 首先, 融合多个卷积层特征, 并在融合层上添加语义分割, 得到的语义特征与相应的卷积层连接作为行人位置的先验信息, 增强行人和背景的辨别性. 然后, 在初步回归的基础上构建行人二次检测模块(Pedestrian secondary detection module, PSDM), 进一步排除误检物体. 实验结果表明, 所提算法在数据集Caltech和CityPersons上漏检率(Miss rate, MR)为7.06 %和11.2 %. 该算法对被遮挡的行人具有强鲁棒性, 同时可方便地嵌入到其他检测框架.
- 行人检测 /
- 语义分割 /
- 特征融合 /
- 遮挡 /
- 二次检测
Abstract: Occlusion and similar objects in the background typically degrade the accuracy of pedestrian detection. To solve the above problems, this paper proposes a pedestrian detection algorithm that combines semantics with multi-level feature fusion (CSMFF). Firstly, multi-convolutional-layer features are fused, and semantic segmentation is added to the fusion layer. The obtained semantic features are connected to the corresponding convolutional layers as the prior information of the pedestrian target location, which enhances the discrimination between pedestrian and background. Based on the preliminary regression, a pedestrian secondary detection module (PSDM) is constructed to further eliminate false positives. The experimental results show that the miss rates (MR) of the proposed algorithm on the datasets Caltech and CityPersons are 7.06 % and 11.2 %, respectively. The algorithm has strong robustness to occluded pedestrians, and can be easily embedded into other detection frameworks.
- Pedestrian detection /
- semantic segmentation /
- feature fusion /
- occlusion /
- secondary detection

HTML全文

图 1 本文算法框架

Fig. 1 Overview of our proposed framework

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图 2 基于目标框和物体轮廓为边界的逐像素分割结果

Fig. 2 The pixel-by-pixel segmentation results based on object box boundary and object contour boundary

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图 3 添加语义分割前后Conv5_3层的特征可视化对比

Fig. 3 Visual comparison of features of Conv5_3 layer before and after adding semantic segmentation

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图 4 CSMFF与各种对比算法在Caltech测试数据集上MR-FPPI变化

Fig. 4 The variations of MR-FPPI of our proposed CSMFF with state-of-the-art approaches on the Caltech test dataset

下载: 全尺寸图片幻灯片

表 1 Caltech数据集中部分子集的划分标准

Table 1 Evaluation settings for partial subsets of the Caltech dataset

子集	行人高度 (Height)	行人被遮挡程度 (Occlusion)
Reasonable	$ > $50 PXs	occ$ < $0.35
Partial	$ > $50 PXs	0.10$ < $occ$ \le $0.35
Heavy	$ > $50 PXs	0.35$ < $occ$ \le $0.80

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表 2 CityPersons数据集中部分子集的划分标准

Table 2 Evaluation settings for partial subsets of the CityPersons dataset

子集	行人高度 (Height)	行人被遮挡程度 (Occlusion)
Bare	$ > $50 PXs	occ$ \le $0.10
Reasonable	$ > $50 PXs	occ$ < $0.35
Partial	$ > $50 PXs	0.10$ < $occ$ \le $0.35
Heavy	$ > $50 PXs	0.35$ < $occ$ \le $0.80

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表 3 在Caltech测试数据集上对比算法性能以及运行速度比较

Table 3 Performance and runtime comparisons of our proposed CSMFF with state-of-the-art approaches on the Caltech test dataset

方法	Reasonable MR (%)	Partial MR (%)	Heavy MR (%)	速度 (s/帧)
PL-CNN^[16]	12.40	16.68	—	—
Faster R-CNN$ + $ATT^[32]	10.33	22.29	45.18	—
MS-CNN^[10]	9.95	19.24	59.94	0.40
RPN$ + $BF^[13]	9.58	24.23	74.36	0.60
AdaptFasterRCNN^[14]	9.18	26.55	57.58	—
F-DNN^[21]	8.65	15.41	55.13	0.30
PCN^[20]	8.45	16.09	55.81	—
F-DNN$ + $SS^[21]	8.18	15.11	53.76	2.48
CSMFF	7.06	14.36	50.62	0.12

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表 4 在CityPersons测试数据集上不同算法性能比较

Table 4 Performance comparison of our proposed CSMFF with state-of-the-art approaches on the CityPersons test dataset

方法	骨干网络	Bare MR (%)	Reasonable MR (%)	Partial MR (%)	Heavy MR (%)
TLL^[33]	ResNet-50	10.0	15.5	17.2	53.6
Repulsion Loss^[34]	ResNet-50	7.6	13.2	16.8	56.9
LBST^[35]	ResNet-50	—	12.8	—	53.7
CC-CNN^[36]	VGG-16	8.2	11.8	14.1	—
OR-CNN^[37]	VGG-16	6.7	12.8	15.3	55.7
Faster R-CNN^[14]	VGG-16	—	15.4	—	—
CSMFF	VGG-16	7.5	11.2	13.4	50.1

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表 5 在Caltech测试数据集上融合不同卷积层的性能

Table 5 Performance of fusing different convolutional layers on the Caltech test dataset

卷积层				MR (%)
Conv2_2	Conv3_3	Conv4_3	Conv5_3	PFEM	CSMFF
√	√	√		12.22	7.06
	√	√	√	32.42	18.15
√	√	√	√	18.72	11.79

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表 6 在Caltech数据集上测试每个组件的消融实验

Table 6 Ablation experiments for testing each component on the Caltech dataset

组件	选择
Faster R-CNN	√
多层特征融合		√	√	√
语义分割分支			√	√
PSDM				√
PFEM MR (%)	14.93	13.27	12.58	12.22
CSMFF MR (%)	12.11	9.53	8.68	7.06

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