Near Zone Pedestrian Detection using a Low-Resolution FIR Sensor
2007 (English)In: Intelligent Vehicles Symposium, 2007 IEEE, Istanbul, Turkey: IEEE , 2007, , 339-345 p.Conference paper (Refereed)
This paper explores the possibility to use a single low-resolution FIR camera for detection of pedestrians in the near zone in front of a vehicle. A low resolution sensor reduces the cost of the system, as well as the amount of data that needs to be processed in each frame.
We present a system that makes use of hot-spots and image positions of a near constant bearing to detect potential pedestrians. These detections provide seeds for an energy minimization algorithm that fits a pedestrian model to the detection. Since false alarms are hard to tolerate, the pedestrian model is then tracked, and the distance-to-collision (DTC) is measured by integrating size change measurements at sub-pixel accuracy, and the car velocity. The system should only engage braking for detections on a collision course, with a reliably measured DTC.
Preliminary experiments on a number of recorded near collision sequences indicate that our method may be useful for ranges up to about 10m using an 80x60 sensor, and somewhat more using a 160x120 sensor. We also analyze the robustness of the evaluated algorithm with respect to dead pixels, a potential problem for low-resolution sensors.
Place, publisher, year, edition, pages
Istanbul, Turkey: IEEE , 2007. , 339-345 p.
, Intelligent Vehicles Symposium, ISSN 1931-0587
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-39510DOI: 10.1109/IVS.2007.4290137Local ID: 49068ISBN: 1-4244-1067-3OAI: oai:DiVA.org:liu-39510DiVA: diva2:260359