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.

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