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Embedded Implementation of Human Detection Using Only Color Features on the NVIDIA Xavier

The authors are developing a novel vital sensing system for real-time exercises using image-assisted routing (IAR), which requires the accurate detection of humans wearing sensor nodes in aerial images captured by a camera mounted on an UAV for sensor localization. To achieve real-time human detection for IAR, this paper proposes the embedded implementation of an accurate human detection scheme, which is constructed with informed filters using only color features and can achieve higher accuracy than deep learning for sports scenes. The experimental results for the actual aerial images of a sports scene revealed that our implementation on the NVIDIA Jetson Xavier board could process a 3840×2160 imaae in annroximatelv 44.93 ms.