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Distributed Pedestrian Detection Alerts Based on Data Fusion with Accurate Localization
Intelligent Systems Laboratory, Universidad Carlos III de Madrid, Avda de la Universidad 30, Leganés 28911, Madrid, Spain
INSIA, Technical University of Madrid, Carretera de Valencia, km.7, Madrid 28031, Spain
* Author to whom correspondence should be addressed.
Received: 5 July 2013; in revised form: 27 August 2013 / Accepted: 30 August 2013 / Published: 4 September 2013
Abstract: Among Advanced Driver Assistance Systems (ADAS) pedestrian detection is a common issue due to the vulnerability of pedestrians in the event of accidents. In the present work, a novel approach for pedestrian detection based on data fusion is presented. Data fusion helps to overcome the limitations inherent to each detection system (computer vision and laser scanner) and provides accurate and trustable tracking of any pedestrian movement. The application is complemented by an efficient communication protocol, able to alert vehicles in the surroundings by a fast and reliable communication. The combination of a powerful location, based on a GPS with inertial measurement, and accurate obstacle localization based on data fusion has allowed locating the detected pedestrians with high accuracy. Tests proved the viability of the detection system and the efficiency of the communication, even at long distances. By the use of the alert communication, dangerous situations such as occlusions or misdetections can be avoided.
Keywords: Advance Driver Assistance Systems; VANETs; V2V; data fusion; laser scanner and computer vision
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MDPI and ACS Style
García, F.; Jiménez, F.; Anaya, J.J.; Armingol, J.M.; Naranjo, J.E.; de la Escalera, A. Distributed Pedestrian Detection Alerts Based on Data Fusion with Accurate Localization. Sensors 2013, 13, 11687-11708.
García F, Jiménez F, Anaya JJ, Armingol JM, Naranjo JE, de la Escalera A. Distributed Pedestrian Detection Alerts Based on Data Fusion with Accurate Localization. Sensors. 2013; 13(9):11687-11708.
García, Fernando; Jiménez, Felipe; Anaya, José J.; Armingol, José M.; Naranjo, José E.; de la Escalera, Arturo. 2013. "Distributed Pedestrian Detection Alerts Based on Data Fusion with Accurate Localization." Sensors 13, no. 9: 11687-11708.