Incorporating Lane Estimation as Context Source in Pedestrian Recognition Task

This contribution presents a method for incorporating information given by a lane estimation system into the pedestrian recognition task. The lane in front of the vehicle is represented by a three dimensional set of points belonging to the middle of the road. A cascaded classifier solves the first stage of pedestrian recognition task delivering a list of detections in a camera image. We present a fusion system which combines the information provided by the cascaded classifier and the lane estimation. The fusion system delivers a probability map of the environment in front of the vehicle. The map indicates regions in front of the vehicle which with a certain probability contain a relevant detected pedestrian.