关键词: 激光雷达, 红外图像, 行人检测, 鲁棒主分量分析, 窗口滤波

Abstract: This paper presents an algorithm of pedestrian detection and recognition by the integrate of 2D laser scanner and infrared image system. The algorithm can be divided into two main parts. Firstly, 2D laser scanner data is used to detect Regions Of Interest（ROI） of target by Robust Principal Component Analysis（RPCA）, and a window filter is designed for filtering the foreground matrix obtained by RPCA. The result of the first part is the positions of ROIs in 2D laser scanner data. Secondly, the position obtained in the first part is projected into the plane of infrared image and the ROIs in the infrared image can be obtained. Based on ROIs, feature vector is extracted by sparse coding spatial pyramid matching and pedestrian detection is finished by support vector machine. The experimental results show the effectiveness of the algorithm proposed in this paper.

Key words: 2D laser scanner, infrared image, pedestrian detection, robust principal component analysis, window filter