Paper Info
Title
Identifying and tracking pedestrians based on sensor fusion and motion stability predictions.
Abstract
The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle.
Year
DOI
Venue
2010
10.3390/s100908028
SENSORS
Keywords
Field
DocType
pedestrian detection,advanced driver assistance systems,stereo vision,laser technology,confidence intervals,sensor fusion
Computer vision,Stereo camera,Machine vision,Intelligent decision support system,Intelligent sensor,Stereopsis,Advanced driver assistance systems,Sensor fusion,Artificial intelligence,Engineering,Pedestrian detection
Journal
Volume
Issue
ISSN
10
9
1424-8220
Citations 
PageRank 
References 
20
1.05
19
Authors
5
Name
Order
Citations
PageRank
Basam Musleh1575.77
Fernando García2703.78
Javier Otamendi3434.85
José María Armingol421324.74
Arturo de la Escalera541143.28