Parzen Method for Fusion of Laserscanner Data : 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. 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 this article propose a detection system based on the fusion of information located in the 4 horizontal laser planes. A "Parzen Window" kernel method is described and allows the centralized fusion of different planes. 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.
Type de document :
Communication dans un congrès
IEEE Intelligent Vehicles Symposium (IV), Jun 2008, Eindhoven, European Union. pp.CD-ROM, 2008
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https://hal.archives-ouvertes.fr/hal-00344114
Contributeur : Paul Checchin <>
Soumis le : mercredi 3 décembre 2008 - 17:07:35
Dernière modification le : lundi 8 octobre 2018 - 11:40:01

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  • HAL Id : hal-00344114, version 1

Citation

Samuel Gidel, Paul Checchin, Christophe Blanc, Thierry Chateau, Laurent Trassoudaine. Parzen Method for Fusion of Laserscanner Data : Application to Pedestrian Detection. IEEE Intelligent Vehicles Symposium (IV), Jun 2008, Eindhoven, European Union. pp.CD-ROM, 2008. 〈hal-00344114〉

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