Fast Pedestrian Detection with Laser and Image Data Fusion

Abstract

In this paper, we proposed a pedestrian detection system based on laser and image data fusion. The high speed of laser data based location and precise of image based classification are fully explored. First, laser scanner point data is clustered into segments, each of which implies a pedestrian candidate. Then, the segments are projected to the image domain to form regions of interest (ROI) on the image, given camera calibration parameters. Finally two SVM classifiers on Histogram of Oriented Gradient (HOG) features are used to precisely locate pedestrians on the ROI. Experiments report over 30 times higher speed than the state-of-the-art method and a comparable detection rate.