一种基于激光雷达和视觉的行人检测方法

针对一般城市环境的道路交通安全问题,提出了一种联合激光雷达和视觉的行人检测方法.利用激光雷达和摄像头坐标之间的透视变换关系,将环境的深度信息映射到图像中,并使用航位角推算方法同步激光雷达和摄像头,然后提取兴趣区域.在激光雷达聚类过程中,提出了一种基于行人宽度信息的目标分割方法,能有效分割并排行人.在基于视觉的行人检测中,首先根据行人边缘对称性的特点,预处理兴趣区域,然后采用基于Hausdorff距离的模板匹配方法,根据激光雷达的深度信息匹配行人上半身模板.实验结果表明,该方法可以取得较理想的效果.

A Pedestrian Detection Method Based on Laser Scanner and Camera

For urban traffic safety, a camera and laser scanner co detection method was presented. A proper ROI (region of interests) can be located based on the perspective transform between the camera coordinate and laser scanner coordinate, and a method of synchronization is induced from dead reckoning. In the process of laser scanner’s cluster, a simple rule is proposed for object segmentation based on pedestrian’s width. It can separate pedestrian side by side effectively. Then, vision based method is used for identification of pedestrian. First, a method of pretreatment for ROI is introduced according to the characteristics of the symmetry of pedestrian’s edge. Second, a template matching method based on Hausdorff distance is applied to match the upper body template by laser scanner’s distance refinement. The experimental results are relatively ideal.