Vehicle Tracking and Detection
On Road Vehicle Breakdown Assistance Finder Project VEHICLE DETECTION A.FAST-HoG Detection Method In this detection method, we integrated the FAST corner detection with the HoG descriptors feature because the FAST detection can narrow down the Region of Interest (RoI) for the HoG detection, which can reduce the large processing time of the sliding window process. The FAST detector classifies a pixel p as a corner by performing a simple brightness test on a discretized circle of sixteen pixels around the pixel p. A corner is detected at p if there are twelve contiguous pixels in the circle with intensities that are all brighter or darker than the centre pixel p by a threshold t. A score function is evaluated for each candidate corner in order to perform non-maximal suppression for the final detection where Sbright is the subset of pixels in the circle that are brighter than p by the threshold t ,and Sdark the subset of pixels that are darker...
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