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The goal of this research is the development of a driver assistant feature, which can warn the driver in case a pedestrian is in a potential risk due to sudden intention to cross the road. The process of crossing pedestrian is defined as the changing of pedestrian orientation on the curb toward the road. We built a Convolutional Neural Network (CNN) model combined with depth sensing camera to estimate the pedestrian orientation and distance from the vehicle. The model detects the higher humandoi:10.1109/access.2020.2987777 fatcat:vnfxy6aknzamvkzhc4ee4n5qee