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Object detection plays an important role in automatic driving systems. Considering the characteristics of classical and deep learning algorithms, a fusion logic is proposed to combine the advantages of these two kinds of object detectors. The relationship of detection performance among different detectors is established theoretically. According to the established theoretical relationship, the improvement of detection performance by fusion is further studied numerically. Furthermore, an optimization method is proposed to guide the design of the sub-detectors to achieve a better comprehensive performance. The effectiveness of this combined approach is validated by application to the detection of pedestrian, in which a support vector machine trained by the HOG feature of pedestrian is adopted as the classical detector and a comparatively simple transfer convolutional neural network (CNN) based on AlexNet structure acts as the deep learning detector. Several comparative tests with the classical and CNN detectors on the training dataset and other totally different dataset have been conducted to show the advantage of the combined one in ensuring detection performance with simpler network and adaptability to new application conditions.

A Combined Object Detection Method With Application to Pedestrian Detection