This paper presents an application of a pedestrian-detection system aimed at localizing potentially dangerous situations under specific urban scenarios. The approach used in this paper differs from those implemented in traditional pedestrian-detection systems, which are designed to localize all pedestrians in the area in front of the vehicle. Conversely, this approach searches for pedestrians in critical areas only. The environment is reconstructed with a standard laser scanner, whereas the following check for the presence of pedestrians is performed due to the fusion with a vision system. The great advantages of such an approach are that pedestrian recognition is performed on limited image areas, therefore boosting its timewise performance, and no assessment on the danger level is finally required before providing the result to either the driver or an onboard computer for automatic maneuvers. A further advantage is the drastic reduction of false alarms, making this system robust enough to control nonreversible safety systems

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Abstract-This paper describes an approach for pedestrian detection in infrared images. The developed system has been implemented on an experimental vehicle equipped with an infrared camera and preliminarily tested in different situations.It is based on the localization of warm symmetrical objects with specific size and aspect ratio; since also road infrastructures and other road participants may have such characteristics, a set of matched filters was added in order to reduce false detections. A final validation process, based on the human shape's morphological characteristics, is used to build the list of pedestrian appearing in the scene.No temporal correlation, nor motion cues are used in this first part of the project.

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