This article presents a multi sensor approach for driver assistance systems: the detection and tracking of pedestrians in a road environment. A multi sensor system consisting of a far infrared camera and a laser scanning device is used for the detection and precise localization of pedestrians. Kalman j l t e r based Data Fusion handles the conzbination of the sensor infomation of the infrared camera and of the laser scanner. Arranging a set of Kalman jilters in parallel, a multi sensor / multi target tracking system was created. The usage of suitable movement models has a great injuence on the pelfomzance of the tracking system. Severul types of models are discussed focussing the typical behavior of pedestrians in road environments. The multi sensor / multi target tracking system is installed on a test vehicle to obtain practical results which will be discussed in this article too.
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