Pedestrian Detection and Tracking in an Urban Environment Using a Multilayer Laser Scanner

Gidel, S.; Checchin, Paul; Blanc, Christophe; Chateau, Thierry; Trassoudaine, Laurent

doi:10.1109/tits.2010.2045122

Cited by 79 publications

(37 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Onboard sensor systems are required to predict the vehicle host-to-pedestrian (H2P) distance as well as the time-to-collision (TTC) . Range-based sensors such as radar and laser provide very accurate distance and time-to-crash measurements, and they have been previously used by many authors (Gidel, Checchin, Blanc, Chateau, & Trassoudaine, 2010). However they are too expensive solutions for automotive industry compared with digital cameras.…”

Section: Introductionmentioning

confidence: 99%

Vision-based active safety system for automatic stopping

Milanés

Llorca

Villagrá

et al. 2012

Expert Systems with Applications

View full text Add to dashboard Cite

Intelligent systems designed to reduce highway fatalities have been widely applied in the automotive sector in the last decade. Of all users of transport systems, pedestrians are the most vulnerable in crashes as they are unprotected. This paper deals with an autonomous intelligent emergency system designed to avoid collisions with pedestrians. The system consists of a fuzzy controller based on the time-to-collision estimate -obtained via a vision-based system -and the wheel-locking probability -obtained via the vehicle's CAN bus -that generates a safe braking action. The system has been tested in a real car -a convertible Citroen C3 Pluriel -equipped with an automated electro-hydraulic braking system capable of working in parallel with the vehicle's original braking circuit. The system is used as a last resort in the case that an unexpected pedestrian is in the lane and all the warnings have failed to produce a response from the driver.

show abstract

Section: Introductionmentioning

confidence: 99%

Vision-based active safety system for automatic stopping

Milanés

Llorca

Villagrá

et al. 2012

Expert Systems with Applications

View full text Add to dashboard Cite

show abstract

“…(Havasi et al, 2007) and (Leibe et al, 2005) presented pedestrian detection from static images, while (Sabzmeydani and Mori, 2007) and (Barsi et al, 2016) worked with videos. (Fuerstenberg and Lages, 2003) and (Gidel et al, 2010) have implemented a system tested in passenger car using laser methods. (Lovas and Barsi, 2015) applied profile laser scanner, (Benedek, 2014) has used rotating multi-beam laser scanner to detect pedestrians.…”

Section: Introductionmentioning

confidence: 99%

Pedestrian Detection by Laser Scanning and Depth Imagery

Barsi¹,

Lovas²,

Molnár³

et al. 2016

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

View full text Add to dashboard Cite

ABSTRACT:Pedestrian flow is much less regulated and controlled compared to vehicle traffic. Estimating flow parameters would support many safety, security or commercial applications. Current paper discusses a method that enables acquiring information on pedestrian movements without disturbing and changing their motion. Profile laser scanner and depth camera have been applied to capture the geometry of the moving people as time series. Procedures have been developed to derive complex flow parameters, such as count, volume, walking direction and velocity from laser scanned point clouds. Since no images are captured from the faces of pedestrians, no privacy issues raised. The paper includes accuracy analysis of the estimated parameters based on video footage as reference. Due to the dense point clouds, detailed geometry analysis has been conducted to obtain the height and shoulder width of pedestrians and to detect whether luggage has been carried or not. The derived parameters support safety (e.g. detecting critical pedestrian density in mass events), security (e.g. detecting prohibited baggage in endangered areas) and commercial applications (e.g. counting pedestrians at all entrances/exits of a shopping mall).

show abstract

“…In [1], the authors propose a pedestrian detection considering a stochastic recursive Bayesian framework. They used the Sampling Importance-Resampling-based Particle Filter (SIR PF), achieving a good observation of pedestrian movement.…”

Section: Introductionmentioning

confidence: 99%

“…This approach also uses Bayesian fusion techniques. Other works try to recognize structured areas in *This work was supported by the European Picav project 1 The authors are at IMARA-INRIA Domaine de Voluceau -Rocquencourt B.P. 105 -78153 Le Chesnay firstname.lastname at inria.fr 1 http://www.topchair.net/ indoor and outdoor scenarios [3], using a mobile robot with 3D scanning and plane geometry.…”

Section: Introductionmentioning

confidence: 99%

Step and curb detection for autonomous vehicles with an algebraic derivative-based approach applied on laser rangefinder data

Pollard

Pérez

Nashashibi

2013

2013 IEEE Intelligent Vehicles Symposium (IV)

View full text Add to dashboard Cite

Abstract-Personal Mobility Vehicles (PMV) is is an important part of the Intelligent Transportation System (ITS) domain. These new transport systems have been designed for urban traffic areas, pedestrian streets, green zones and private parks. In these areas, steps and curbs make the movement of disable or mobility reduced people with PMV, and with standard chair wheels difficult. In this paper, we present a step and curb detection system based on laser sensors. This system is dedicated to vehicles able to cross over steps, for transportation systems, as well as for mobile robots. The system is based on the study of the first derivative of the altitude and highlights the use of a new algebraic derivative method adapted to laser sensor data. The system has been tested on several real scenarios. It provides the distance, altitude and orientation of the steps in front of the vehicle and offers a high level of precision, even with small steps and challenging scenarios such as stairs.

show abstract

Pedestrian Detection and Tracking in an Urban Environment Using a Multilayer Laser Scanner

Cited by 79 publications

References 20 publications

Vision-based active safety system for automatic stopping

Vision-based active safety system for automatic stopping

Pedestrian Detection by Laser Scanning and Depth Imagery

Step and curb detection for autonomous vehicles with an algebraic derivative-based approach applied on laser rangefinder data

Contact Info

Product

Resources

About