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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.
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Contributor : Paul Checchin Connect in order to contact the contributor
Submitted on : Wednesday, December 3, 2008 - 5:07:35 PM
Last modification on : Wednesday, April 21, 2021 - 8:34:02 AM


  • HAL Id : hal-00344114, version 1



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. ⟨hal-00344114⟩



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