In pedestrian detection, occlusions are typically treated as an unstructured source of noise and explicit models have lagged behind those for object appearance, which will result in degradation of detection performance. In this paper, a hierarchical co-occurrence model is proposed to enhance the semantic representation of a pedestrian. In our proposed hierarchical model, a latent SVM structure is employed to model the spatial co-occurrence relations among the parent–child pairs of nodes as hidden variables for handling the partial occlusions. Moreover, the (...) visibility statuses of the pedestrian can be generated by learning co-occurrence relations from the positive training data with large numbers of synthetically occluded instances. Finally, based on the proposed hierarchical co-occurrence model, a pedestrian detection algorithm is implemented to incorporate visibility statuses by means of a Random Forest ensemble. The experimental results on three public datasets demonstrate the log-average miss rate of the proposed algorithm has 5% improvement for pedestrians with partial occlusions compared with the state-of-the-arts. (shrink)