Camera and Laser Scanner Co-detection of Pedestrians
Camera and Laser Scanner Co-detection of Pedestrians
复制标题
摄像头和激光扫描仪联合检测行人
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
Hui
中科院分区：
文献类型：
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作者：
Lingling Hao;Ming Yang;Hui
智能车辆技术是提高城市交通安全和效率的一项有前景的技术。行人检测是智能车辆在城市环境中应用的一个重要问题。最广泛使用的行人检测方法是基于视觉的方法。基于视觉的方法的一个普遍问题是如何有效地定位包含候选对象的适当的 ROI（感兴趣区域）。另一个问题是如何从 ROI 中检测和分割候选对象的特征。本文提出了一种相机和激光扫描仪联合检测方法。首先，提出了一种相机和激光扫描仪协同校准的方法。其次，介绍了如何利用协同校准结果获得合适的ROI和候选对象轮廓的方法。最后，从行人和地标的轮廓形状的一组示例中导出决策规则（由于它们的大小相似，它们最有可能相互混淆）。给出了一些实验结果来验证相机和激光扫描仪联合检测方法。
Intelligent vehicle technology is a promising technology for enhancing urban traffic safety and efficiency. Pedestrian detection is an important issue for applications of intelligent vehicles in urban environments. The kind of most widely used method for pedestrian detection is vision based method. One general problem for vision based method is how to efficiently locate a proper ROI (region of interests) which contains a candidate object. Another problem is how to detect and segment features of candidate objects out of ROI. In this paper, a camera and laser scanner co-detection method is proposed. First, a method of camera and laser scanner co-calibration is presented. Second, a method of how to obtain proper ROI and the contours of candidate objects using the co-calibration results is introduced. Finally, a decision rule is induced from a set of examples of contour shapes of both pedestrians and landmarks (They are most likely to be confused with each other because of their similarity in size). Some experimental results are given for validating the camera and laser scanner co-detection method.