Early and accurate detection of crossing pedestrians is crucial in automated driving in order to perform timely emergency manoeuvres. However, this is a difficult task in urban scenarios where pedestrians are often occluded (not visible) behind objects, e.g., other parked vehicles. We propose an occlusion aware fusion of stereo camera and radar sensors to address scenarios with crossing pedestrians behind such parked vehicles. Our proposed method adapts both the expected rate and properties of detections in different areas according to the visibility of the sensors. In our experiments on a real-world dataset, we show that the proposed occlusion aware fusion of radar and stereo camera detects the crossing pedestrians on average 0.26 seconds earlier than using the camera alone, and 0.15 seconds earlier than fusing the sensors without occlusion information. Our dataset containing 501 relevant recordings of pedestrians behind vehicles will be publicly available on our website for non-commercial, scientific use.
Detecting Darting Out Pedestrians With Occlusion Aware Sensor Fusion of Radar and Stereo Camera
IEEE Transactions on Intelligent Vehicles ; 8 , 2 ; 1459-1472
2023-02-01
3548983 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Occlusion-Aware Stereo Matching
British Library Online Contents | 2016
|Collision Sensing by Stereo Vision and Radar Sensor Fusion
Online Contents | 2009
|