Fast Pedestrian Detection in Dense Environment with a Laser Scanner and a Camera

Because pedestrians have neither well defined shapes nor well defined behaviors, detecting and tracking them from a moving vehicle remains a difficult task. To serve as an onboard driver assistance system, a perception algorithm also needs to be both fast and robust. We present in this paper a system that reaches a good level of reliability by efficiently combining the data of two sensors - a laser scanner and a camera - while remaining tractable on CPU limited mobile architectures.