NDLI: Pedestrian detection method using a multilayer laserscanner: Application in urban environment

Content Provider	IEEE Xplore Digital Library
Author	Gidel, S. Checchin, P. Blanc, C. Chateau, T. Trassoudaine, L.
Copyright Year	2008
Description	Author affiliation: LASMEA, Univ. Blaise Pascal, Aubiere (Gidel, S.; Checchin, P.; Blanc, C.; Chateau, T.; Trassoudaine, L.)
Abstract	Pedestrian safety is a primary traffic issue in urban environment. 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 laser 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 we propose here a detection system based on the fusion of information located in the 4 laser planes. In this paper, we propose a Parzen kernel method that allows first to isolate the ldquopedestrian objectsrdquo in each plane and then to carry out a decentralized fusion according to the 4 laser planes. Finally, to improve our pedestrian detection algorithm we use a MCMC based PF method allowing a closer observation of pedestrian random movement dynamics. 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.
Starting Page	173
Ending Page	178
File Size	680385
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650700
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Lasers Vehicles Laser fusion Distance measurement Clustering algorithms Classification algorithms
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in