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Decentralized Fusion of a 4-layer laser sensor based on Parzen Method : Application to Pedestrian Detection

Abstract : 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 horizontal planes. In order to improve the robustness of pedestrian detection using a single laser sensor we propose here a detection system based on decentralized fusion of information located in the 4 horizontal laser planes. A Parzen kernel method is described and allows to extract "pedestrian objects" in each laser layer before to carry out a decentralized fusion based also on the Parzen kernel method. 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.
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https://hal.archives-ouvertes.fr/hal-00344109
Contributor : Paul Checchin Connect in order to contact the contributor
Submitted on : Wednesday, December 3, 2008 - 4:56:22 PM
Last modification on : Wednesday, April 21, 2021 - 8:34:02 AM

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  • HAL Id : hal-00344109, version 1

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Samuel Gidel, Paul Checchin, Christophe Blanc, Thierry Chateau, Laurent Trassoudaine. Decentralized Fusion of a 4-layer laser sensor based on Parzen Method : Application to Pedestrian Detection. ICRA 2008 Workshop : Human Detection from Mobile Robot Platforms : Different Perspective, Different Modalities, May 2008, Pasadena, United States. pp.CD-ROM. ⟨hal-00344109⟩

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