摘要
Pedestrian detection is a critical problem in the field of computer vision. Although most existing algorithms are able to detect pedestrians well in controlled environ- ments, it is often difficult to achieve accurate pedestrian de- tection from video sequences alone, especially in pedestrian- intensive scenes wherein pedestrians may cause mutual oc- clusion and thus incomplete detection. To surmount these dif- ficulties, this paper presents pedestrian detection algorithm based on video sequences and laser point cloud. First, laser point cloud is interpreted and classified to separate pedes- trian data and vehicle data. Then a fusion of video image data and laser point cloud data is achieved by calibration. The re- gion of interest after fusion is determined using feature in- formation contained in video image and three-dimensional information of laser point cloud to remove false detection of pedestrian and thus to achieve pedestrian detection in inten- sive scenes. Experimental verification and analysis in video sequences demonstrate that fusion of two data improves the performance of pedestrian detection and has better detection results.
Pedestrian detection is a critical problem in the field of computer vision. Although most existing algorithms are able to detect pedestrians well in controlled environ- ments, it is often difficult to achieve accurate pedestrian de- tection from video sequences alone, especially in pedestrian- intensive scenes wherein pedestrians may cause mutual oc- clusion and thus incomplete detection. To surmount these dif- ficulties, this paper presents pedestrian detection algorithm based on video sequences and laser point cloud. First, laser point cloud is interpreted and classified to separate pedes- trian data and vehicle data. Then a fusion of video image data and laser point cloud data is achieved by calibration. The re- gion of interest after fusion is determined using feature in- formation contained in video image and three-dimensional information of laser point cloud to remove false detection of pedestrian and thus to achieve pedestrian detection in inten- sive scenes. Experimental verification and analysis in video sequences demonstrate that fusion of two data improves the performance of pedestrian detection and has better detection results.
