Taiki Yamamoto, Fumito Shinmura, Daisuke Deguchi, Yasutomo Kawanishi, Ichiro Ide, Hiroshi Murase
PROCEEDINGS OF THE 14TH INTERNATIONAL JOINT CONFERENCE ON COMPUTER VISION, IMAGING AND COMPUTER GRAPHICS THEORY AND APPLICATIONS (VISAPP), VOL 5 2019年 SCITEPRESS
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 orientationwise 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.