Pedestrian Intensive Scanning for Active-scan LIDAR

Taiki Yamamoto, Fumito Shinmura, Daisuke Deguchi, Yasutomo Kawanishi, Ichiro Ide, Hiroshi Murase

2019

Abstract

In recent years, LIDAR is playing an important role as a sensor for understanding environments of a vehicle’s surroundings. Active-scan LIDAR is being actively developed as a LIDAR that can control the laser irradiation direction arbitrary and rapidly. In comparison with conventional uniform-scan LIDAR (e.g. Velodyne HDL-64e), Active-scan LIDAR enables us to densely scan even distant pedestrians. In addition, if appropriately controlled, this sensor has a potential to reduce unnecessary laser irradiations towards non-target objects. Although there are some preliminary studies on pedestrian scanning strategy for Active-scan LIDARs, in the best of our knowledge, an efficient method has not been realized yet. Therefore, this paper proposes a novel pedestrian scanning method based on orientation aware pedestrian likelihood estimation using the orientation-wise pedestrian’s shape models with local distribution of measured points. To evaluate the effectiveness of the proposed method, we conducted experiments by simulating Active-scan LIDAR using point-clouds from the KITTI dataset. Experimental results showed that the proposed method outperforms the conventional methods.

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Paper Citation


in Harvard Style

Yamamoto T., Shinmura F., Deguchi D., Kawanishi Y., Ide I. and Murase H. (2019). Pedestrian Intensive Scanning for Active-scan LIDAR. In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP; ISBN 978-989-758-354-4, SciTePress, pages 313-320. DOI: 10.5220/0007359903130320


in Bibtex Style

@conference{visapp19,
author={Taiki Yamamoto and Fumito Shinmura and Daisuke Deguchi and Yasutomo Kawanishi and Ichiro Ide and Hiroshi Murase},
title={Pedestrian Intensive Scanning for Active-scan LIDAR},
booktitle={Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP},
year={2019},
pages={313-320},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007359903130320},
isbn={978-989-758-354-4},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP
TI - Pedestrian Intensive Scanning for Active-scan LIDAR
SN - 978-989-758-354-4
AU - Yamamoto T.
AU - Shinmura F.
AU - Deguchi D.
AU - Kawanishi Y.
AU - Ide I.
AU - Murase H.
PY - 2019
SP - 313
EP - 320
DO - 10.5220/0007359903130320
PB - SciTePress