吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (05): 1230-1234.doi: 10.7964/jdxbgxb201305013

• paper • Previous Articles     Next Articles

Pedestrian detection by radar vision data fusion

QU Zhao-wei1, WEI Fu-lu1,2, WEI Wei1, LI Zhi-hui1, HU Hong-yu1   

  1. 1. College of Transportation, Jilin University, Changchun 130022, China;
    2. School of Science and Engineering on Communications, Jilin Jianzhu University, Changchun 130118, China
  • Received:2012-08-28 Online:2013-09-01 Published:2013-09-01

Abstract:

A pedestrian detection method by radar and vision information fusion is proposed. First,a coordinate transformation model of two sensors is established,by which depth information of radar scanning can be mapped to image.Then,radar scanning data are divided into a number of point clusters.Considering the physical attribute of pedestrian, the radar point clusters are selected again to obtain effective point cluster information.According to camera imaging rule, the relationship between pedestrian imaging region and his/her position is deduced.As a result, the Region of Interest (ROI) in pedestrian detection is determined.On this basis, the Histogram of Oriented Gradient (HOG) feature of the ROI is extracted,and the hypothesized pedestrian is verified using Support Vector Machine (SVM) classifier. Experiment results indicate that the proposed method is able to detect pedestrian in real time,and the accuracy rate can exceed 93%.

Key words: engineering of communications and transportation system, pedestrian detection, information fusion, region of interest

CLC Number: 

  • TP391

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