SAFE AND EFFICIENT PEDESTRIAN DETECTION FOR AUTONOMOUS VEHICLES THROUGH ADVANCED 3D CNN-BASED SOLUTIONS

Abstract

Pedestrian detection is another significant special application of object detection in autonomous vehicles. In contrast to universal object detection, it has similarities and special traits. Nevertheless, there are some difficulties that influence pedestrian detection performance, namely (i) occlusion and deformation (ii) low-quality and multispectral images consisting primarily of lighting conditions, small-scale detection, and target detection extensively, and (iii) true-false pedestrians. Deep learning (DL) methods are a class of artificial intelligence method that can solve the issues mentioned above of pedestrian detection. This paper initially gives an elaborate description of pedestrian detection, difficulties in pedestrian detection, and latest advancements in solving them using the assistance of DL methods with informative discussions, aiming to provide insights to the readers. (2) A new pedestrian detection algorithm (PDA) of true/false pedestrian is suggested here, in which a new YOLO-3D CNN model is applied to reject true/false pedestrian. The primary purpose is to evaluate the performance of the existing 3D CNN taking into consideration the problem of rejecting true false pedestrians based on images captured using the car's onboard cameras and light detection and ranging (LiDAR) sensors. PDA initially utilizes YOLOv3 to capture the entire image for training detector model capable of real-time forecasting. Next, as a feature extractor, it utilizes the MobileNet-SSD that provides great accuracy as well as good trading uptime. PDA then implements the Faster R-CNN method to detect different parts of the object, over the convolutional layer. Lastly, data augmentation techniques are applied in PDA to augment the data coverage by fully exploiting available training data. Simulation results indicate that the proposed pedestrian detection model and PDA improve the accuracy of real and false pedestrians while maintaining real-time requirements.