Pedestrian Detection with Spatially Pooled Features and Structured Ensemble Learning

Many typical applications of object detection operate within a prescribed false-positive range. In this situation the performance of a detector should be assessed on the basis of the area under the ROC curve over that range, rather than over the full curve, as the performance outside the range is irrelevant. This measure is labelled as the partial area under the ROC curve (pAUC). We propose a novel ensemble learning method which achieves a maximal detection rate at a user-defined range of false positive rates by directly optimizing the partial AUC using structured learning. In order to achieve a high object detection performance, we propose a new approach to extract low-level visual features based on spatial pooling. Incorporating spatial pooling improves the translational invariance and thus the robustness of the detection process. Experimental results on both synthetic and real-world data sets demonstrate the effectiveness of our approach, and we show that it is possible to train state-of-the-art pedestrian detectors using the proposed structured ensemble learning method with spatially pooled features. The result is the current best reported performance on the Caltech-USA pedestrian detection dataset.