Fusion scheme for pedestrian safety in Urban roads

Trustworthy sensors are the key points regarding road safety applications. The lack of reliable sensors able to fulfil the entire requirements for these situations makes fusion schemes mandatory. A fusion scheme that uses two sensors: far infrared camera vision and a laser scanner to perform pedestrian detection is presented. Both sensors have different field of view thus different detection zones are created according to the sensors available for detection in each zone. The proposed algorithm performs hybrid fusion by combining low and high level information. Experimental results show that combining both sensors detection is improved.