This paper proposes a method for pedestrian orientation classification. In image recognition, the accuracy is often degraded by the influence of background. In addition, it is also difficult to remove the background and extract only the human body from an image. To overcome these problems, we utilize a single-chip RGB-ToF camera. This camera can acquire RGB and depth images along the same optical axis at the same moment, and thus segmentation of the RGB image becomes easier by using the coaxial

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... depth image. Our proposed method segmented a human body from its background accurately, which lead to the improvement of the accuracy of pedestrian orientation classification.