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. 2020 Dec 30;21(1):200. doi: 10.3390/s21010200

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© 2020 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Pedestrian detection and tracking in the IRSU in the CARLA simulator. Despite dual cameras enabled for detecting road users in the IRSU, the Cam #1 captured all the road users at the particular moment in the experiment. Therefore, only the image frame from that camera is shown in (a). In (b), where the road users are tracked in 3D space, the CAV itself is labelled as an orange pillar with a confidence ellipse and an arrow indicating its moving direction. The two pedestrians are denoted by magenta pillars.