Laser-based detection and tracking of multiple people in crowds
Computer Vision and Image Understanding
Meta-programming Applied to Automatic SMP Parallelization of Linear Algebra Code
Euro-Par '08 Proceedings of the 14th international Euro-Par conference on Parallel Processing
A novel system for tracking pedestrians using multiple single-row laser-range scanners
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Vision-based active safety system for automatic stopping
Expert Systems with Applications: An International Journal
Computers & Mathematics with Applications
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Pedestrians are the most vulnerable participants in urban traffic. The first step toward protecting pedestrians is to reliably detect them in a real-time framework. In this paper, a new approach is presented for pedestrian detection in urban traffic conditions using a multilayer laser sensor mounted onboard a vehicle. This sensor, which is placed on the front of a vehicle, collects information about the distance distributed according to four planes. Like a vehicle, a pedestrian constitutes, in the vehicle environment, an obstacle that must be detected, and located and then identified and tracked if necessary. To improve the robustness of pedestrian detection using a single laser sensor, a detection system based on the fusion of information located in the four laser planes is proposed. The method uses a nonparametric kernel-density-based estimation of pedestrian position of each laser plane. The resulting pedestrian estimations are then sent to a decentralized fusion according to the four planes. Temporal filtering of each object is finally achieved within a stochastic recursive Bayesian framework (particle filter), allowing a closer observation of pedestrian random movement dynamics. Many experimental results are given and validate the relevance of our pedestrian-detection algorithm with regard to a method using only a single-row laser-range scanner.