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LIDAR and Vision-Based Pedestrian Detection System

机译：LIDAR和基于视觉的行人检测系统

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摘要

A perception system for pedestrian detection in urban scenarios using information from a LIDAR and a single camera is presented. Two sensor fusion architectures are described, a centralized and a decentralized one. In the former, the fusion process occurs at the feature level, i.e., features from LIDAR and vision spaces are combined in a single vector for posterior classification using a single classifier. In the latter, two classifiers are employed, one per sensor-feature space, which were offline selected based on information theory and fused by a trainable fusion method applied over the likelihoods provided by the component classifiers. The proposed schemes for sensor combination, and more specifically the trainable fusion method, lead to enhanced detection performance and, in addition, maintenance of false-alarms under tolerable values in comparison with single-based classifiers. Experimental results highlight the performance and effectiveness of the proposed pedestrian detection system and the related sensor data combination strategies.
机译：提出了一种使用LIDAR和单个摄像头的信息在城市场景中进行行人检测的感知系统。描述了两种传感器融合架构，即集中式和分散式。在前者中，融合过程发生在特征级别，即，来自LIDAR和视觉空间的特征被合并到单个向量中，以使用单个分类器进行后分类。在后者中，使用了两个分类器，每个传感器特征空间一个分类器，这些分类器是根据信息理论离线选择的，并通过一种可训练的融合方法进行融合，该方法适用于组件分类器提供的可能性。提出的传感器组合方案，更具体地讲是可训练的融合方法，与基于单分类器的结果相比，可提高检测性能，并在可容忍的值范围内维持错误警报。实验结果突出了所提出的行人检测系统以及相关传感器数据组合策略的性能和有效性。

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  • 来源
    《Journal of robotic systems》 |2009年第9期|696-711|共16页
  • 作者

    Cristiano Premebida; Oswaldo Ludwig; Urbano Nunes;

  • 作者单位

    Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra 3030-290, Portugal;

    Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra 3030-290, Portugal;

    Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra 3030-290, Portugal;

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