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Advanced driver assistance (ADA) systems provide a significant role in Intelligent Transportation Systems. ADA systems have a direct support interaction with the driver. Computer Vision Systems play an important role in providing safety features for driver assistance systems of today's automobiles. Many safety features are considered under an advanced driver assistance. Pedestrian Detection System (PDS) is one of the important features. The PDS has a direct role in saving peoples' lives in road accidents across the globe. This book provides an insight of a typical vision based pedestrian detection system. The book also provides essential direction about the development of an algorithm for pedestrian detection system. A novel algorithm 'EK-PDS' is presented in this book based on edgelets and k-means classifier for detection of pedestrians under diverse challenging conditions.