International Archives of the Photogrammetry, Remote Sensing 
and Spatial Information Sciences, Vol XXXV, Part B4. Istanbul 2004 
  
  
  
  
  
(a) Low density: à = 0.1 
  
(b) Mid density: i — 0.4 
Figure 7: Overlapped results of correcte 
  
Figure 6: Oriented flow-lines and Collision-distribution 
the time resolution from 20 [frames/sec] to 5 [frames/sec]. Ob- 
tained results are shown in Figure 8 and table 1, where the value 
inside of the case arc is measurement ratio of both feet. 
By using six sensors, the measurement ratio was achieved ap- 
proximately 100% in the case of p = 0.8. In this case, 88% peo- 
ple were hit to both feet. Also, success ratio of pedestrian detec- 
tion was approximately 100% under the environment of # = 0.4 
(c) High density: j1 = 0.8 
d video images, laser points and detected trajectories 
Table !: Calculated A Measurement Ratio 
6 sensors 
  
it 3 seonsors 4 sensors 
0. 99% (96%) 100% (98%) 99% (98%) 
0.5 94% (81%) 98% (90%) 99% (96%) 
08 91% (70%) 5% (76%) 99% (88%) 
  
  
[persons/m^]. However, we could not precisely determine a suc- 
cess ratio under the condition of the high density because of the 
complicated passenger flow. This is the future work. 
5 SUMMARY 
In this paper, we proposed the novel system of pedestrian detec- 
tion and tracking by using multiple laser range scanners. Pro- 
posed system could measure approximately 99% pedestrians in 
the case of 1 = 0.8 [persons/m?]. Also, success ratio of pedestrian 
detection was achieved approximately 100% under the environ- 
ment of à = 0.4 [persons/m°]. Proposed system was shown that it 
could measure multiple pedestrians in the case of wide range and 
high-density area, comparing to methods by using video camera. 
In future works, a hybrid measurement system fusing video cam- 
1264 
  
  
Internc 
20 
Count 
i 
" 
era and 
identific 
Chia-Ju 
Hong- Yi 
trian de 
37,pp.1( 
Huijing 
using M 
on Urba 
Huijing 
for Regis 
door Ob; 
67(10),p 
Naoya C 
Pedestriz 
Japaneas 
Romer R 
Multple