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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Bulletin of Electrical Engineering and Informatics Bulletin of Electrical Engineering and Informatics Indonesian Journal of Electrical Engineering and Computer Science
Hairi Zamzuri
Universiti Teknologi Malaysia
Computer Science & IT Electrical & Electronics Engineering Engineering

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Journal : International Journal of Electrical and Computer Engineering

 1 
Pedestrian Detection using Triple Laser Range Finders Abdul Hadi Abd Rahman; Khairul Akram Zainol Ariffinv; Nor Samsiah Sani; Hairi Zamzuri
International Journal of Electrical and Computer Engineering (IJECE) Vol 7, No 6: December 2017
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2047.061 KB) | DOI: 10.11591/ijece.v7i6.pp3037-3045

Abstract

Pedestrian detection is one of the important features in autonomous ground vehicle (AGV). It ensures the capability for safety navigation in urban environment. Therefore, the detection accuracy became a crucial part which leads to implementation using Laser Range Finder (LRF) for better data representation. In this study, an improved laser configuration and fusion technique is introduced by implementation of triple LRFs in two layers with Pedestrian Data Analysis (PDA) to recognize multiple pedestrians. The PDA integrates various features from feature extraction process for all clusters and fusion of multiple layers for better recognition. The experiments were conducted in various occlusion scenarios such as intersection, closed-pedestrian and combine scenarios. The analysis of the laser fusion and PDA for all scenarios showed an improvement of detection where the pedestrians were represented by various detection categories which solve occlusion issues when low numberof laser data were obtained.
Co-Authors Abdul Hadi Abd Rahman Alias Jedi Khairul Akmal Zulkepli Khairul Akram Zainol Ariffinv M. H. M. Ariff Malarvili Balakrishnan Mohd Azizi Abdul Rahman Mohd Hanif Che Hasan Mohd Hatta Mohammed Ariff Mohd Ibrahim Shapiai Mohd Marzuki Mustafa Muhammad Zulfaqar Azmi Noor Jannah Zakaria Nor Aziyatul Izni Mohd Rosli Nor Samsiah Sani Noraishikin Binti Zulkarnain Noraishikin Zulkarnain Nurbaiti Wahid Nurbaiti Wahid Nurbaiti Wahid Nurhaffizah Hassan Nurhaffizah Hassan Nurhaffizah Hassan Saiful Amri Mazlan Sarah 'Atifah Saruchi Sarah ‘Atifah Saruchi Sarah ’Atifah Saruchi Sheikh Muhammad Hafiz Fahami Siti Nor Zawani Ahmmad Siti Salasiah Mokri Takashi Komeda Umar Zakir Abdul Hamid Zulkarnain Ali Leman