基于激光扫描技术的行人检测方法研究

Research on Pedestrian Detection Method Based on Laser Scanning

基于激光测距传感器,通过激光扫描实时获取周围环境的激光点云数据,并处理和分析点云数据,实现对环境中行人的检测。提出的行人检测算法基于实时获取的点云数据,采用帧逐差的方法初步确定行人所对应的点云,并通过估计行人身体尺寸和对应点云数量来提高检测率。实验中测试了角分辨率、扫描频率、行进路线以及行进速度的多种组合下行人检测的准确率,通过分析激光传感器参数配置对行人检测的影响及不同行进方向上的检测性能,得出最优传感器配置和检测方案。实验结果验证了利用激光测量传感器检测行人的方法的可行性,并得出了初步的检测步骤及思路。

The pedestrian detection in environment is based on the laser sensor. By laser scanning,the point cloud data can be acquired from current environment,which will be analyzed later. The pedestrian detection mentioned here is on the basis of the point cloud data, which are appointed by every frame in the initial phase, and then the exact point cloud of different size of human body is estimated. We applied combinations of angular resolution, scanning frequency, pro- cessing route, and processing speed to check the accuracy. We also analyzed the parameters from the laser sensor and the detecting performance in different directions to get a optimal plan for the settings of sensor. This paper aims at measu- ring the possibility of using a laser gauging sensor in the pedestrian detection, and suggesting a preliminary procedure for the detection.