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The lack of trustworthy sensors makes ADAS applications a tough task. In this paper a fusion approach that uses two sensors: far infrared camera vision and a laser scanner to detect pedestrian for ADAS applications is presented. Both sensors have different field of view thus different detection zones are created according to the number of sensors available. The proposed algorithm combines low and high level information, providing a hybrid fusion scheme. Experimental results show that pedestrian detections are improved thanks to the use of several sensors.