A method for pedestrian detection from challenging real world outdoor scenes is presented in this paper. This technique is able to extract multiple pedestrians, of varying orientations and appearances, from a scene even when faced with large and multiple occlusions. The technique is also robust to changing background lighting conditions and effects, such as shadows. The technique applies an enhanced method from which reliable disparity information can be obtained even from untextured

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... areas within a scene. This is used in conjunction with ground plane estimation and biometric information, to obtain reliable pedestrian regions. These regions are robust to erroneous areas of disparity data and also to severe pedestrian occlusion, which often occurs in unconstrained scenarios.