Pedestrian detection based on fusion of millimeter wave radar and vision

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 智能检测与装备研究室

	Pedestrian detection based on fusion of millimeter wave radar and vision
	Guo XP(郭晓鹏)1,2,3 ; Gao J(高洁)1,2,3 ; Wang W(王伟)1,2,3 ; Du JS(杜劲松)1,3
	2018
会议日期	August 18-20, 2018
会议地点	Beijing, China
关键词	Millimeter wave radar Vision Data fusion Space alignment Pedestrian detection HOG
页码	38-42
英文摘要	Pedestrian protection system plays an important role in perceptual system of unmanned vehicles and Advanced Drive Assistant System. In order to get more details information about surrounding objects, perceptual system of such kind intelligence system is usually equipped with different sensors, so technology to fuse information of heterogeneous sensors is very important. This paper proposed a novel way to fuse the information of radar and image of camera to realize pedestrian detection and acquire its dynamic information. Contribution of this paper are as following First, a new intra-frame cluster algorithm and an inter-frame tracking algorithm are put forward to extract valid target signal from original radar data with noise. Second, to realize radar-vision data space alignment, least square algorithm is used to get the coordinate transformation matrix. Then with the aid of projections of radar points, a flexible strategy to generate region of interest (ROI) is put forward. Furthermore, to further accelerate detection, an improved fast object estimation algorithm is proposed to acquire a more accurate potential target area based on ROI. At last, histogram of gradient (HOG) features of potential area are extracted and support vector machine is used to judge whether it's a pedestrian. The proposed approach is verified through real experimental examples and the trial results show this method is feasible and effective.
源文献作者	China University of Technology ; International Advertising, Communication and Technology (IACT)
产权排序	1
会议录	2018 International Conference on Artificial Intelligence and Pattern Recognition, AIPR 2018
会议录出版者	ACM
会议录出版地	New York
语种	英语
ISBN号	978-1-4503-6524-6
WOS记录号	WOS:000458142000008
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23772]
专题	沈阳自动化研究所_智能检测与装备研究室
通讯作者	Wang W(王伟)
作者单位	1.Key Laboratory of Liaoning Province on Radar System and Application, Shenyang 110179, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Guo XP,Gao J,Wang W,et al. Pedestrian detection based on fusion of millimeter wave radar and vision[C]. 见:. Beijing, China. August 18-20, 2018.