Pedestrian detection on the slope using multi-layer laser scanner
Kaiqi Liu, Wenguang Wang · 2017
A new pedestrian detection method is proposed on the slope using multi-layer laser scanner in this paper. Firstly, the parameters of the slope scene are obtained from the priori point cloud. Then use the scene parameters to eliminate the ground returns by Elevation-like Map. After segmentation a nonparametric kernel density estimation method is proposed to extract the position of person by fusing the information of multiple scanning layers. The effectiveness of the method will be verified by both simulation and measured data.