Research on Pedestrian Detection and DeepSort Tracking in Front of Intelligent Vehicle Based on Deep Learning

Abstract

In order to improve the tracking failure caused by small-target pedestrians and partially blocked pedestrians in dense crowds in complex environments, a pedestrian target detection and tracking method for an intelligent vehicle was proposed based on deep learning. On the basis of the YOLO detection model, the channel attention module and spatial attention module were introduced and were joined to the back of the backbone network Darknet-53 in order to achieve weight amplification of important feature information in channel and space dimensions and improve the representation ability of the model for important feature information. Based on the improved YOLO network, the flow of the DeepSort pedestrian tracking method was designed and the Kalman filter algorithm was used to estimate the pedestrian motion state. The Mahalanobis distance and apparent feature were used to calculate the similarity between the detection frame and the predicted pedestrian trajectory; the Hungarian algorithm was used to achieve the optimal matching of pedestrian targets. Finally, the improved YOLO pedestrian detection model and the DeepSort pedestrian tracking method were verified in the same experimental environment. The verification results showed that the improved model can improve the detection accuracy of small-target pedestrians, effectively deal with the problem of target occlusion, reduce the rate of missed detection and false detection of pedestrian targets, and improve the tracking failure caused by occlusion.