At the Traffic Intersection, Stopping, or Walking? Pedestrian Path Prediction Based on KPOF-GPDM for Driving Assistance

Figure 3

In the WEC detection process, a small part of the optical flow is taken and enlarged to the pixel level. In the 33 pixel matrix, there is a transition zone that is close to white at the intersection of the obstruction and the pedestrian in the light flow. Based on this, WEC determines four types of symbols: left/avertence, up/down, left/right, and right/avertence. The in the figure indicates that the value signs of the corresponding two points are different. When the four pairs of values are opposite in sign and the absolute value of the difference is less than a certain threshold, is recorded as the WEC boundary. All points are mapped to the original image to obtain the boundary of the occlusion in the input image.