Evaluation of pedestrian detection fusion and localization based on the idea of car-to-X communication

Pedestrian safety applications for urban environments, e.g. observation of intersections or crosswalks for pedestrians, are a growing research area. This paper is focused on the fusion of detected pedestrians from different viewing angles, especially from a surveillance system and from a moving car. Therefore, a combination of the available information inside of a generated world map, which is based on the global positioning system (GPS), is presented. The model for transforming detections with assumed uncertainties into the world map, and an attempt to combine separate independent single detections from different views to a unique one are results of the paper. Besides the combination of information, an evaluation of the detection accuracy of a surveillance system and a monocular object detection driver assistance system is presented. This evaluation discloses drawbacks as well as benefits of an information mapping from different viewing angles into a global world map.