Dynamic pedestrian detection method of lidar

A laser radar and pedestrian detection technology, which is applied in the direction of measuring devices, radio wave measurement systems, instruments, etc., can solve the problems of difficult to meet pedestrian detection requirements, complex algorithms, and less information, and achieve good detection effect and high detection accuracy , good accuracy and robustness

Inactive Publication Date: 2018-11-02
SICHUAN GUORUAN SCI & TECH DEV CO LTD
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Problems solved by technology

In the current pedestrian detection methods, single-sensor methods are commonly used, or texture, entropy, template matching and other methods are used to detect moving pedestrians in general urban environments, or stereo vision systems are used to obtain ground objects of interest by using camera tilt c

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  • Dynamic pedestrian detection method of lidar
  • Dynamic pedestrian detection method of lidar
  • Dynamic pedestrian detection method of lidar

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[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0021] See figure 1 , The present invention provides a technical solution: a lidar dynamic pedestrian detection method, the specific steps of the detection method are as follows:

[0022] S1: Lidar installation: Install the four-line Lidar at the center of the vehicle directly in front, and the height from the ground is 0.7m, in order to ensure that the two laser beams can scan the road when the vehicle is driving on a horizontal plane to...

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Abstract

The invention discloses a dynamic pedestrian detection method of lidar in the technical field of road traffic safety. The method specifically includes the following steps: S1, lidar installation; S2,radar coordinate system setting; S3, lidar data clustering; S4, feature extraction; S5, feature classification; and S6, pedestrian sample collection. The method carries out clustering algorithm analysis for obstacles of laser detection, forms a feature set, has good precision and robustness for pedestrian detection, can detect a single person, can also accurately detect pedestrian targets for non-motorized vehicles and pedestrians moving side by side, and has the characteristics of a good detection effect and high detection precision.

Description

technical field [0001] The invention discloses a laser radar dynamic pedestrian detection method, in particular to the technical field of road traffic safety. Background technique [0002] As an important part of the intelligent transportation system, road traffic safety has been paid more and more attention by research institutions at home and abroad. In the mixed traffic environment, pedestrian detection is of great significance for safe assisted driving. In the current pedestrian detection methods, single-sensor methods are commonly used, or texture, entropy, template matching and other methods are used to detect moving pedestrians in general urban environments, or stereo vision systems are used to obtain ground objects of interest by using camera tilt compensation methods , and use support vector machines to detect pedestrians. However, the detection method based on a single sensor is limited by the small amount of information and the complexity of the algorithm. It is d...

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Application Information

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IPC IPC(8): G06K9/00G06K9/62G01S17/88
CPCG01S17/88G06V40/10G06F18/23G06F18/24
Inventor 周丹
Owner SICHUAN GUORUAN SCI & TECH DEV CO LTD
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