research-article

A Radar and Monocular Camera-based Fusion Approach for Pedestrian Detection

Authors:

Qing JiangAuthors Info & Claims

CONF-CDS 2021: The 2nd International Conference on Computing and Data Science

Article No.: 9, Pages 1 - 7

https://doi.org/10.1145/3448734.3450461

Published: 17 May 2021 Publication History

Abstract

Since single sensor has its own shortcomings in pedestrian detection, fusion detection of using radar and camera sensor is currently an effective solution for unmanned driving. This paper proposes a new strategy based on the fusion of radar and camera. First, Kalman filter is used to filter out the invalid data and measurement noise in the radar measurement process, and the radar candidate rectangle is generated based on the target distance and the calibration of the radar/camera sensor. For the camera, extract the foreground information in the video frame and use the information about human area and aspect ratio to screen out suitable pedestrian motion rectangle. Finally, the features are extracted from the candidate rectangle fused by radar and camera and the optimized XGBoost classifier is apply to implement pedestrian recognition. The experimental results show that the detection time of pedestrian after fusion is reduced, and the average precision is increased by 19.41%.

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Cited By

Čopič Pucihar KMeneghello FSalami DSluÿters AVatavu R(2024)Beyond Radar Waves: The First Workshop on Radar-Based Human-Computer InteractionCompanion Proceedings of the 16th ACM SIGCHI Symposium on Engineering Interactive Computing Systems10.1145/3660515.3662836(97-102)Online publication date: 24-Jun-2024
https://dl.acm.org/doi/10.1145/3660515.3662836
Mahayuda IRizaldy Pratama ABayu Dewantara BPramadihanto D(2024)Design and Implementation of a Radar-Camera Fusion System for Human Detection and Its Distance Measurement2024 International Electronics Symposium (IES)10.1109/IES63037.2024.10665849(486-490)Online publication date: 6-Aug-2024
https://doi.org/10.1109/IES63037.2024.10665849
Sluÿters ALambot SVanderdonckt JVillarreal-Narvaez S(2024)Analysis of User-Defined Radar-Based Hand Gestures Sensed Through Multiple MaterialsIEEE Access10.1109/ACCESS.2024.336666712(27895-27917)Online publication date: 2024
https://doi.org/10.1109/ACCESS.2024.3366667

Index Terms

A Radar and Monocular Camera-based Fusion Approach for Pedestrian Detection
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Computer vision problems
        Object recognition
        Tracking
      2. Computer vision tasks
        Scene understanding

Index terms have been assigned to the content through auto-classification.

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CONF-CDS 2021: The 2nd International Conference on Computing and Data Science

January 2021

1142 pages

ISBN:9781450389570

DOI:10.1145/3448734

Copyright © 2021 ACM.

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Published: 17 May 2021

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CONF-CDS 2021

CONF-CDS 2021: The 2nd International Conference on Computing and Data Science

January 28 - 30, 2021

CA, Stanford, USA

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Cited By

Čopič Pucihar KMeneghello FSalami DSluÿters AVatavu R(2024)Beyond Radar Waves: The First Workshop on Radar-Based Human-Computer InteractionCompanion Proceedings of the 16th ACM SIGCHI Symposium on Engineering Interactive Computing Systems10.1145/3660515.3662836(97-102)Online publication date: 24-Jun-2024
https://dl.acm.org/doi/10.1145/3660515.3662836
Mahayuda IRizaldy Pratama ABayu Dewantara BPramadihanto D(2024)Design and Implementation of a Radar-Camera Fusion System for Human Detection and Its Distance Measurement2024 International Electronics Symposium (IES)10.1109/IES63037.2024.10665849(486-490)Online publication date: 6-Aug-2024
https://doi.org/10.1109/IES63037.2024.10665849
Sluÿters ALambot SVanderdonckt JVillarreal-Narvaez S(2024)Analysis of User-Defined Radar-Based Hand Gestures Sensed Through Multiple MaterialsIEEE Access10.1109/ACCESS.2024.336666712(27895-27917)Online publication date: 2024
https://doi.org/10.1109/ACCESS.2024.3366667

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