Multi-modal pedestrian detection on the move

This paper presents an on-the-move pedestrian detection system that utilizes multiple sensor modalities to improve detection rates at deployable computational loads. The system was developed for a vehicle moving up to 40 kph that can detect moving pedestrians up to a distance of 50m, with support fo...

Full description

Saved in:
Bibliographic Details
Main Authors: Kira, Z., Southall, B., Kuthirummal, S., Matei, B., Hadsell, R., Eledath, J.
Format: Conference Proceeding
Language:English
Subjects:
Calibration
Cameras
Detectors
Feature extraction
Laser radar
Reliability
Three dimensional displays
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents an on-the-move pedestrian detection system that utilizes multiple sensor modalities to improve detection rates at deployable computational loads. The system was developed for a vehicle moving up to 40 kph that can detect moving pedestrians up to a distance of 50m, with support for both day and night operations. In the day, 3D pointclouds obtained from an 8-layer LIDAR sensor are processed to produce a labeling of the scene distinguishing ground, large structures, and potential pedestrians to produce reliable detections in the short range (up to 30m), while a stereo-based detection and classification system is used for ranges between 30-50m+. We describe the algorithms in detail and show that the combined system allows for reliable detection at faster frame-rates than when using each sensor or component individually. A second method for fusing two IR cameras with the LIDAR sensor is proposed for night operations, where LIDAR is used to produce multi-scale masks that define the search space for a HOG-based pedestrian classifier.
ISSN:2325-0526
DOI:10.1109/TePRA.2012.6215671