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However, it is difficult to detect pedestrians due to the variety of their poses and backgrounds. To tackle this problem, we propose a method to detect various pedestrians from in-vehicle camera images. To deal with changes of pedestrians\u0027 pose and environment, most existing methods making use of their appearance require to prepare a lot of pedestrian images manually. The proposed method classifies a small number of pedestrian images into several pose classes and then generates various pedestrian images from each pose class. Finally, the proposed method constructs a classifier based on multiple templates from each pedestrian pose. Experimental results showed that the detection accuracy of the method outperformed existing methods, and we confirmed its effectiveness. 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