Radar-Lidar Sensor Fusion Sheme Using Occluded Depth Generation for Pedestrian Detection

Despite the development of sensors and their sensor fusion technologies, pedestrian detection technology is a still challenging topic. The pedestrian detection using LIDAR-RADAR fusion method hasn¡¯t yet been reported. We propose the occluded depth generation based LIDAR-RADAR sensor fusion scheme. The proposed method consists of object detection, occluded depth generation and then pedestrian detection. Objects within the occluded depth are detected by RADAR and an occluded object is estimated to a pedestrian by means of RADAR human Doppler distribution.