As one of the most important areas of research in the domain of computer vision and intelligent vehicles

pedestrian detection of on-board vision systems has attracted extensive interest from the research community. In order to show the general idea of the latest development of this technology

we focus on the improvement of the two major modules since 2005: regions of interest (ROIs) segmentation and object recognition. First

we classify the typical methods in the field of ROIs segmentation according to the information used in segmentation and analyze their respective pros and cons. Then

we summarize the improvement of object recognition on the feature extraction

classifier construction

and the search framework. Finally

future research trends are proposed.