A Layered-based Fusion-based Approach to Detect and Track the Movements of Pedestrians through Partially Occluded Situations
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Fang_Layered-based-Fusion-based.pdf
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Author(s)
Masaki, Ichiro
Yokomitsu, Sumio
Fang, Yajun
Horn, Berthold Klaus Paul
Date Issued
July 2009
Journal
2009 IEEE Intelligent Vehicles Symposium
Publisher
Institute of Electrical and Electronics Engineers
Citation
Yajun Fang et al. “A layered-based fusion-based approach to detect and track the movements of pedestrians through partially occluded situations.” Intelligent Vehicles Symposium, 2009 IEEE. 2009. 548-555. ©2009 IEEE
Version
Final published version
Abstract
To obtain perception abilities, conventional methods independently detect static and dynamic obstacles, and estimate their related information, which is not quite reliable and computationally heavy. We propose a fusion-based and layered-based approach to systematically detect dynamic obstacles and obtain their location and timing information. The layered-based concept helps us to first search pedestrians in horizontal dimension based on transitional peaks in the defined projection-curves, and then search in vertical dimension. Converting a typical 2D search problem into two 1D search problems significantly decreases the computational load. The fusion-based obstacle detection fuses the information from initial segmentation and dynamic tracking model to avoid complicated tracking schemes. The methodologies take advantage of connection between different information, and increase the accuracy and reliability of obstacle segmentation and tracking. The search mechanism works for both visible and infrared sequences, and is specifically effective to track the movements of pedestrians in complicated environments such as human intersecting and conclusion, thus improving environment understanding abilities and driving safety.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Microsystems Technology Laboratories
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
http://dx.doi.org/10.1109/IVS.2009.5164337
