Early and accurate detection of crossing pedestrians is crucial in automated driving to execute emergency manoeuvres in time. This is a challenging task in urban scenarios however, where people are often occluded (not visible) behind objects, e.g. other parked vehicles. In this paper, an occlusion aware multi-modal sensor fusion system is proposed to address scenarios with crossing pedestrians behind parked vehicles. Our proposed method adjusts the detection rate in different areas based on sensor visibility. We argue that using this occlusion information can help to evaluate the measurements. Our experiments on real world data show that fusing radar and stereo camera for such tasks is beneficial, and that including occlusion into the model helps to detect pedestrians earlier and more accurately.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Occlusion aware sensor fusion for early crossing pedestrian detection


    Contributors:


    Publication date :

    2019-06-01


    Size :

    2170584 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Social Aware Multi-modal Pedestrian Crossing Behavior Prediction

    Zhai, Xiaolin / Hu, Zhengxi / Yang, Dingye et al. | British Library Conference Proceedings | 2023



    Pedestrian crossing safety early warning device

    LI LI / LIN DIANCHAO | European Patent Office | 2023

    Free access


    Pedestrian crossing detection based on evidential fusion of video-sensors

    Boudet, Laurence / Midenet, Sophie | Elsevier | 2009