Cited 1 time in webofscience Cited 1 time in scopus

Detection scheme for a partially occluded pedestrian based on occluded depth in lidar-radar sensor fusion

Title
Detection scheme for a partially occluded pedestrian based on occluded depth in lidar-radar sensor fusion
Authors
Kwon, Seong KyungHyun, Eu GinLee, Jin HeeLee, Jong HunSon, Sang Hyuk
DGIST Authors
Hyun, Eu GinLee, Jong HunSon, Sang Hyuk
Issue Date
2017-11
Citation
Optical Engineering, 56(11)
Type
Article
Article Type
Article
Keywords
SYSTEM
ISSN
0091-3286
Abstract
Object detections are critical technologies for the safety of pedestrians and drivers in autonomous vehicles. Above all, occluded pedestrian detection is still a challenging topic. We propose a new detection scheme for occluded pedestrian detection by means of lidar-radar sensor fusion. In the proposed method, the lidar and radar regions of interest (RoIs) have been selected based on the respective sensor measurement. Occluded depth is a new means to determine whether an occluded target exists or not. The occluded depth is a region projected out by expanding the longitudinal distance with maintaining the angle formed by the outermost two end points of the lidar RoI. The occlusion RoI is the overlapped region made by superimposing the radar RoI and the occluded depth. The object within the occlusion RoI is detected by the radar measurement information and the occluded object is estimated as a pedestrian based on human Doppler distribution. Additionally, various experiments are performed in detecting a partially occluded pedestrian in outdoor as well as indoor environments. According to experimental results, the proposed sensor fusion scheme has much better detection performance compared to the case without our proposed method. (c) The Authors.
URI
http://hdl.handle.net/20.500.11750/5632
DOI
10.1117/1.OE.56.11.113112
Publisher
SPIE-SOC PHOTO-OPTICAL INSTRUMENTATION ENGINEERS
Related Researcher
  • Author Hyun, Eugin  
  • Research Interests Radar system, Radar signal processing, Automotive radar, Surveillance radar, Commercial radar, Defence radar,
Files:
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Collection:
Convergence Research Center for Future Automotive Technology1. Journal Articles
Department of Information and Communication EngineeringRTCPS(Real-Time Cyber-Physical Systems) Lab1. Journal Articles


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