A method for pedestrian detection from real world outdoor scenes is presented in this paper. The technique uses disparity information, ground plane estimation and biometric information based on the golden ratio. It can detect pedestrians even in the presence of severe occlusion or a lack of reliable disparity data. It also makes reliable choices in ambiguous areas since the pedestrian regions are initiated using the disparity of head regions. These are usually highly textured and unoccluded, and therefore more reliable in a disparity image than homogeneous or occluded regions.