Object Detection on Panoramic Laser Range-Image *

Abstract -It is important to assess street-parking vehicles causing traffic problems in urban areas, however, it is performed manually and at high cost. It is a top priority for reducing cost, to develop a detection system of those vehicles. We propose a detection method using a laser-range finder and a line-scan camera. In the detection method, two kinds of cluster analysis are applied to range points: One is for clustering points at each scan, and the other for clustering points over several scans. Each cluster of range points means a vehicle. As a result of verification experiments in real roads, a detection rate reached 95 %.