Estimating the Scene-wise Reliability of LiDAR Pedestrian Detectors

Haruya Kyutoku, Yasutomo Kawanishi, Daisuke Deguchi, Ichiro Ide, Kazuki Kato, Hiroshi Murase

Abstract: Nowadays, development of driving support systems and autonomous driving systems have become active. Pedestrian detection from in-vehicle sensors is one of the most important technologies for these systems. However, outputs of pedestrian detectors can not be fully trusted in real environments. Therefore, we propose an estimation system of pedestrian detector's reliabilities for a given scene. This paper proposes a scene-wise reliability calculation method for LiDAR-based detectors, and a construction method for their estimators. Here, the problem is how we can define the reliability. The proposed method defines the reliability considering oversights as the strictest threshold without oversights. Meanwhile, it defines the reliability considering false detections as the loosest threshold without false detections. Experimental results showed that the proposed method could properly represent the reliability of a given scene, and estimate their reliability.