2D scale space relation
Another large advantage that we can exploit in industrial cases is the fact that many of these setups have a fixed camera position. This is interesting when the objects that need to be detected follow a fixed ground plane, like in the case of pedestrians or objects passing by on a conveyor belt. If these conditions exist, then there is actually a possibility to model the scale of an object at each position in the image. This yields two possible advantages:
First of all, you can use this knowledge to effectively reduce the number of false positive detections while still keeping your certainty threshold low enough so that low certainty and good detection still stick around. This can be done in some sort of post-processing step after the object detection phase.
Secondly, this knowledge can be used to effectively reduce the detection time and search space for object candidates inside the image pyramid.
Let's start by focusing on the following case, illustrated in the following...
