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Pedestrian detection using triple laser range finders

Rahman, A. H. A. and Ariffin, K. A. Z. and Sani, N. S. and Zamzuri, H. (2017) Pedestrian detection using triple laser range finders. International Journal of Electrical and Computer Engineering, 7 (6). pp. 3037-3045. ISSN 2088-8708

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Official URL: https://www.scopus.com/inward/record.uri?eid=2-s2....

Abstract

Pedestrian detection is one of the important features in autonomous ground vehicle (AGV). It ensures the capability for safety navigation in urban environment. Therefore, the detection accuracy became a crucial part which leads to implementation using Laser Range Finder (LRF) for better data representation. In this study, an improved laser configuration and fusion technique is introduced by implementation of triple LRFs in two layers with Pedestrian Data Analysis (PDA) to recognize multiple pedestrians. The PDA integrates various features from feature extraction process for all clusters and fusion of multiple layers for better recognition. The experiments were conducted in various occlusion scenarios such as intersection, closed-pedestrian and combine scenarios. The analysis of the laser fusion and PDA for all scenarios showed an improvement of detection where the pedestrians were represented by various detection categories which solve occlusion issues when low number of laser data were obtained.

Item Type:Article
Uncontrolled Keywords:Pedestrian detection, autonomous ground vehicle (AGV)
Subjects:T Technology > T Technology (General)
Divisions:Malaysia-Japan International Institute of Technology
ID Code:76362
Deposited By: Widya Wahid
Deposited On:29 Jun 2018 22:03
Last Modified:29 Jun 2018 22:03

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