NDLI: Real-time detection and tracking of pedestrians at intersections using a network of laserscanners

Content Provider	IEEE Xplore Digital Library
Author	Meissner, D. Reuter, S. Dietmayer, K.
Copyright Year	2012
Description	Author affiliation: Institute of Measurement, Control, and Microtechnology, Ulm University, Ulm, Germany (Meissner, D.; Reuter, S.; Dietmayer, K.)
Abstract	Accident analysis shows that the majority of accidents with body injuries occur in urban areas and more than 50 percent of those urban accidents happen at intersections. Due to that a major aim of the Ko-PER project, which is part of research initiative Ko-FAS, is to improve safety at intersections by infrastructure based perception. To recognize and track the moving objects, a network of laserscanner sensors observes the intersection and provides a 3D profile of the current scene. By means of the 3D measurements a robust and adaptive Gaussian mixture background model is trained to segment the measurements of dynamic objects and static objects. After the segmentation, the foreground points of each sensor are clustered based on the density of the point clouds and finally pedestrians are classified using dimension features. This paper focuses on tracking of pedestrians, which are the most vulnerable road users. In order to be able to integrate dependencies between the states of the pedestrians, a random finite set particle filter is used to track the pedestrians. The performance of the laserscanner based tracking system is shown and evaluated with measurements from the Ko-PER test intersection at Conti-Safety-Park. Therefore, the optimal subpattern assignment (OSPA) metric is used to evaluate the object recognition and tracking system.
Starting Page	630
Ending Page	635
File Size	2144116
Page Count	6
File Format	PDF
ISBN	9781467321198
ISSN	19310587
e-ISBN	9781467321181
DOI	10.1109/IVS.2012.6232226
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-03
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Clustering algorithms Measurement by laser beam Adaptation models Laser modes Sensors Atmospheric measurements
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
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