PEDESTRIAN RECOGNITION USING ON-VEHICLE LIDAR
Kiyokazu Takagi, Shinnosuke Ando, M. Hashimoto · PROCEEDINGS OF THE 13th ITS WORLD CONGRESS, LONDON, 8-12 OCTOBER 2006 · 2006
A pedestrian recognition algorithm using on-vehicle LIDAR (Light Detection and Ranging) is presented. It is important to support drivers on the congested environment at the intersection or on the community road by detecting pedestrians and giving information about where they are and where they are going. The pedestrian recognition algorithm, which has clustering logic related to the characteristic of the pedestrian and tracking algorithm by a unique data association and Kalman filter using our on-vehicle 2-dimensional scanning LIDAR. The pedestrians are recognized on the absolute coordinate system by using the 2-wheel vehicle model to correct the ego-vehicle motion. For the covering abstract see ITRD E134653.