Abstract
As for the pedestrian detection method, It ever proposed various one. But it can't detects the pedestrian in dynamic environment. So we researched one on mobile robot that is dynamic environment. In this paper, we generate 3D optical flow from gotten range image and intensity from stereo camera. It picks out double support phase and single support phase by using variance of this flow vector. It detects the pedestrian by using row of double support phase and single support phase. It is predictably effective because a variance of this flow vector is invariable on mobile robot. It could detect the pedestrian with the accuracy of 79.4% on wheel-type mobile robot.
