Title :
Fast Pedestrian Detection with Laser and Image Data Fusion
Author :
Wu, Bo ; Liang, Jixiang ; Ye, Qixiang ; Han, Zhenjun ; Jiao, Jianbin
Author_Institution :
Grad. Univ. of Chinese Acad. of Sci., Beijing, China
Abstract :
In this paper, we proposed a pedestrian detection system based on laser and image data fusion. The high speed of laser data based location and precise of image based classification are fully explored. First, laser scanner point data is clustered into segments, each of which implies a pedestrian candidate. Then, the segments are projected to the image domain to form regions of interest (ROI) on the image, given camera calibration parameters. Finally two SVM classifiers on Histogram of Oriented Gradient (HOG) features are used to precisely locate pedestrians on the ROI. Experiments report over 30 times higher speed than the state-of-the-art method and a comparable detection rate.
Keywords :
gradient methods; image classification; image fusion; image segmentation; object detection; optical scanners; support vector machines; traffic information systems; HOG feature; SVM classifier; camera calibration parameter; histogram of oriented gradient; image based classification; image data fusion; image segment; laser data based location; laser scanner point data; pedestrian candidate; pedestrian detection system; regions of interest; Cameras; Feature extraction; Image segmentation; Laser fusion; Support vector machines; Vehicles; SVM classifier; laser scanner HOG features; pedestrian detection; sensor fusion;
Conference_Titel :
Image and Graphics (ICIG), 2011 Sixth International Conference on
Conference_Location :
Hefei, Anhui
Print_ISBN :
978-1-4577-1560-0
Electronic_ISBN :
978-0-7695-4541-7
DOI :
10.1109/ICIG.2011.107
