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

fYear

2011

fDate

12-15 Aug. 2011

Firstpage

605

Lastpage

608

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICIG.2011.107

Filename

6005990