无人车2.5D激光雷达行人检测

Pedestrian Detection Based on 2.5D Lidar for Unmanned Vehicle

行人检测作为智能汽车环境感知的一个重要部分,必须具备很好的精度和实时性。2.5D四线激光雷达能够返回比较充足的障碍物信息,相对于三维激光雷达实时性更好,可以实现高性能的行人检测。针对行人难以检测的问题提出由13个特征构成的特征集,提出基于2.5D激光雷达的行人检测方法。实验结果表明该方法对户外行人检测有很高的精度和鲁棒性。

Pedestrian detection, as an important part of the environment perception of intelligent vehicle, must have good accuracy and real-time performance. 2.5D four-layer laser radar can return plentiful information, has better real-time performance than 3D laser scanner, and can achieve high performance of pedestrian detection. Aiming at the problems that pedestrian detection is difficult, a feature set composed of 13 features and a pedestrian detection method based on 2.5D laser scanner is proposed. The experimental results show that the method of outdoor pedestrian detection has high accuracy and robustness.