Pedestrian Detection Method using a Multilayer Laserscanner: Application in Urban Environment

被引:14
|
作者
Gidel, Samuel [1 ]
Checchin, Paul [1 ]
Blanc, Christophe [1 ]
Chateau, Thierry [1 ]
Trassoudaine, Laurent [1 ]
机构
[1] Univ Blaise Pascal, CNRS, UMR UBP 6602, LASMEA, Aubiere, France
来源
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年
关键词
D O I
10.1109/IROS.2008.4650700
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
Pedestrian safety is a primary traffic issue in urban environment. This article deals with the detection of pedestrians by means of a laser sensor. This sensor, placed on the front of a vehicle collects information about distance distributed according to 4 laser planes. Like a vehicle, a pedestrian constitutes in the vehicle environment an obstacle which must be detected, located, then identified and tracked if necessary. In order to improve the robustness of pedestrian detection using a single laser sensor we propose here a detection system based on the fusion of information located in the 4 laser planes. In this paper, we propose a Parzen kernel method that allows first to isolate the "pedestrian objects" in each plane and then to carry out a decentralized fusion according to the 4 laser planes. Finally, to improve our pedestrian detection algorithm we use a MCMC based PF method allowing a closer obervation of pedestrian random movement dynamics. Many experimental results validate and show the relevance of our pedestrian detection algorithm in regard to a method using only a single-row laser-range scanner.
引用
收藏
页码:173 / 178
页数:6
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