. Bibliographie, Observatoire national interministériel de sécurité routière In : Bulletin d'analyse des accidents corporels de la circulation routière, 1991.

K. Arras and . Olivier, Feature-based Robot Navigation in known and unknown Environments, 2003.

&. Arras, K. O. Vestli-arras, and S. J. Vestli, Hybrid, high-precision localisation for the mail distributing mobile robot system MOPS, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998.
DOI : 10.1109/ROBOT.1998.680906

. Arras, Using Boosted Features for the Detection of People in 2D Range Data, Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007.
DOI : 10.1109/ROBOT.2007.363998

. Athans, Suboptimal state estimation for continuous-time nonlinear systems from discrete noisy measurements, IEEE Transactions on Automatic Control, vol.13, issue.5, pp.504-514, 1968.
DOI : 10.1109/TAC.1968.1098986

&. Baker, . Matthews, S. Baker, and I. Matthews, Lucas-Kanade 20 Years On: A Unifying Framework, International Journal of Computer Vision, vol.56, issue.3, pp.221-255, 2004.
DOI : 10.1023/B:VISI.0000011205.11775.fd

&. Shalom, . Fortmann, Y. Bar-shalom, and T. E. Fortmann, Alignement and Data Association, 1988.

&. Bar-shalom, . Li, Y. Bar-shalom, and X. R. Li, Multitarget-Multisensor Tracking : Principles and Techniques, 1995.

. Bertozzi, A Symmetry-based Validator and Refinement System for Pedestrian Detection in Far Infrared Images, 2007 IEEE Intelligent Transportation Systems Conference, 2007.
DOI : 10.1109/ITSC.2007.4357695

&. Besl, . Mckay, P. J. Besl, and N. D. Mckay, A method for registration of 3-D shapes, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.14, issue.2, pp.239-256, 1992.
DOI : 10.1109/34.121791

C. Blanc, Combinaison d'estimations : Application à la détection d'obstacles à bord des véhicules routiers intelligents, 2005.

&. Borges, G. A. Borges, and M. J. Aldon, Line Extraction in 2D Range Images for Mobile Robotics, Journal of Intelligent and Robotic Systems, vol.40, issue.3, pp.267-297, 2004.
DOI : 10.1023/B:JINT.0000038945.55712.65
URL : https://hal.archives-ouvertes.fr/lirmm-00108567

&. Bréhard, . Cadre, T. Bréhard, J. Cadre, and . Le, A new approach for the bearings-only problem : estimation of the variance-to-range ratio, International Conference on Information Fusion, 2004.

. Broggi, Localization and analysis of critical areas in urban scenarios, 2008 IEEE Intelligent Vehicles Symposium, 2008.
DOI : 10.1109/IVS.2008.4621266

. Chanier, Map fusion based on a multi-map SLAM framework, 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2008.
DOI : 10.1109/MFI.2008.4648050
URL : https://hal.archives-ouvertes.fr/hal-00343546

P. Checchin, Segmentation d'images de profondeur, 1996.

. Cornou, Pedestrian accident context and technologic development in LOVe project, I.O.N, Vehicle and Infrastructure Safety Improvement in Adverse Conditions and Night Driving, 2008.

I. J. Cox, Blanche-an experiment in guidance and navigation of an autonomous robot vehicle, IEEE Transactions on Robotics and Automation, vol.7, issue.2, pp.193-204, 1991.
DOI : 10.1109/70.75902

. Cui, Tracking Multiple People using Laser and Vision, IEEE Intelligent Robots and Systems (IROS), 2005.

. Cui, Laser-based detection and tracking of multiple people in crowds, Computer Vision and Image Understanding, vol.106, issue.2-3, pp.300-312, 2007.
DOI : 10.1016/j.cviu.2006.07.015

&. Denoeux, . Govaert, T. Denoeux, and G. Govaert, Combined supervised and unsupervised learning for system diagnosis using Dempster-Shafer theory, Conference Computational Engineering Applications (CESA), 1996.

&. Diosi, . Kleeman, A. Diosi, and L. Kleeman, Uncertainty of Line Segments Extracted from Statistic SICK PLS Laser Scans, Australian Conference on Robotics and Automation, 2003.

. Douillard, A Spatio-Temporal Probabilistic Model for Multi-Sensor Multi-Class Object Recognition, IEEE Intelligent Robots and Systems (IROS), 2007.
DOI : 10.1007/978-3-642-14743-2_11

. Egammal, Non-parametric Model for Background Subtraction, European Conference on Computer Vision (ECCV), 2000.

. Fayad, Updating confidence indicators in a multi-sensor pedestrian tracking system, 2008 IEEE Intelligent Vehicles Symposium, 2008.
DOI : 10.1109/IVS.2008.4621258

&. Fiscler, . Bolles, M. Fiscler, and R. Bolles, Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, vol.24, issue.6, pp.381-395, 1981.
DOI : 10.1145/358669.358692

. Fod, Laser-Based People Tracking, IEEE International Conference on Robotics and Automation (ICRA), 2002.

H. Fontaine, A Typological Analysis of Pedestrian Accidents, p.7, 1995.

. Franck, Multiple target tracking using sequential monte carlo methods and statistical data association, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003.
DOI : 10.1109/IROS.2003.1249281

. Freitas, Sequential Monte Carlo Methods for Neural Networks, 2001.
DOI : 10.1007/978-1-4757-3437-9_17

&. Fuerstenberg, K. C. Dietmayer-fuerstenberg, and K. Dietmayer, Object tracking and classification for multiple active safety and comfort applications using a multilayer laserscanner, IEEE Intelligent Vehicles Symposium, 2004, 2004.
DOI : 10.1109/IVS.2004.1336487

&. Fuerstenberg, . Lages, K. C. Fuerstenberg, and U. Lages, New European Approach for Intersection Safety -The EC-Project INTERSAFE, IEEE Intelligent Vehicles Symposium (IV), 2005.

. Fuerstenberg, Pedestrian recognition in urban traffic using a vehicle based multilayer laserscanner, Intelligent Vehicle Symposium, 2002. IEEE, 2002.
DOI : 10.1109/IVS.2002.1187923

. Fuerstenberg, Pedestrian Recognition and Tracking of Vehicles using a vehicle based Multilayer Laserscanner, 10th World Congres on Intelligent Transport Systems (ITS), 2003.

J. Gallice, Images de profondeur, Traité IC2 Information Commande Communication, Traitement du Signal et de l'Image, 2002.

&. Gate, . Nashashibi, . Gate, . Gwennael, . Nashashibi et al., Using targets appearance to improve pedestrian classification with a laser scanner, 2008 IEEE Intelligent Vehicles Symposium, 2008.
DOI : 10.1109/IVS.2008.4621253

. Gavrila, A multi-sensor approach for the protection of vulnerable traffic participants the PROTECTOR project, IMTC 2001. Proceedings of the 18th IEEE Instrumentation and Measurement Technology Conference. Rediscovering Measurement in the Age of Informatics (Cat. No.01CH 37188), pp.2044-2048, 2001.
DOI : 10.1109/IMTC.2001.929557

D. M. Gavrila, The Visual Analysis of Human Movement: A Survey, Computer Vision and Image Understanding, vol.73, issue.1, pp.82-98, 1999.
DOI : 10.1006/cviu.1998.0716

F. M. Gavrila, Sensor-based pedestrian protection, IEEE Intelligent Systems, vol.16, issue.6, pp.77-81, 2001.
DOI : 10.1109/5254.972097

. Gordon, Novel approach to nonlinear/non-Gaussian Bayesian state estimation, IEEE Proc. F, Radar and Signal Processing, pp.107-113, 1993.
DOI : 10.1049/ip-f-2.1993.0015

. Gordon, Novel approach to nonlinear/non-Gaussian Bayesian state estimation, IEE Proceedings F Radar and Signal Processing, vol.140, issue.2, pp.107-113, 1993.
DOI : 10.1049/ip-f-2.1993.0015

. Gorji, Multiple Target Tracking for Mobile Robots Using the JPDAF Algorithm, IEEE International Conference on Tools with Artificial Intelligence (ICTAI), 2007.
DOI : 10.1007/978-3-540-88069-1_5

. Goya, Estimation Précise de la Trajectoire d'un Véhicule par Fusion de Capteurs Vision et télémètre Laser, 16ème Congrès Francophone AFRIF-AFIA de Reconnaissance des Formes et Intelligence Artificielle (RFIA), 2008.

T. Grenier, Apport de l'espace des caractéristiques et des paramètres d'échelle adaptatifs pour le filtrage et la segmentation d'image, 2005.

. Gustafsson, Particle filters for positioning, navigation, and tracking, IEEE Transactions on Signal Processing, vol.50, issue.2, pp.425-437, 2002.
DOI : 10.1109/78.978396
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.22.9011

&. Gutmann, J. S. Konolige-]-gutmann, and K. Konolige, Robot pose estimation in unknown environments by matching 2d range scans, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 1994.

&. Gutmann, J. S. Konolige-]-gutmann, and K. Konolige, Incremental mapping of large cyclic environments, Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375), 1999.
DOI : 10.1109/CIRA.1999.810068

&. Gutmann, J. S. Schlegel-]-gutmann, and C. Schlegel, AMOS: comparison of scan matching approaches for self-localization in indoor environments, Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT '96), 1996.
DOI : 10.1109/EURBOT.1996.551882

W. Hastings, Monte Carlo sampling methods using Markov chains and their applications, Biometrika, vol.57, issue.1, pp.97-109, 1970.
DOI : 10.1093/biomet/57.1.97

&. Isard, . Blake, M. Isard, and A. Blake, Contour tracking by stochastic propagation of conditional density, Lecture Notes in Computer Science, vol.1064, pp.343-356, 1996.
DOI : 10.1007/BFb0015549

&. Isard, . Blake, M. Isard, and A. Blake, CONDENSATION -Conditional density propagation for visual tracking, Int. J. Comput, vol.29, pp.5-28, 1998.

. Jouannin and . Stéphane, Association et fusion de données : application au suivi et à la localisation d'obstacles par radar à bord d'un véhicule routier intelligent, 1999.

&. Julier, . Uhlmann, S. Julier, and J. Uhlmann, New extension of the Kalman filter to nonlinear systems, Signal Processing, Sensor Fusion, and Target Recognition VI, 1997.
DOI : 10.1117/12.280797

R. Kalman, A New Approach to Linear Filtering and Prediction Problems, Journal of Basic Engineering, vol.82, issue.1, pp.35-45, 1960.
DOI : 10.1115/1.3662552

&. Bucy, R. Kalman, and R. Bucy, New results in linear filtering and prediction theory, Transactions of the ASME Journal of Basic Engineering, vol.83, pp.93-108, 1961.

&. Karlsson, R. Gustafsson-]-karlsson, and F. Gustafsson, Monte Carlo data association for multiple target tracking, IEE International Seminar Target Tracking: Algorithms and Applications, 2001.
DOI : 10.1049/ic:20010239

. Khan, An MCMC-Based Particle Filter for Tracking Multiple Interacting Targets, Proc. European Conf. on Computer Vision (ECCV), 2004.
DOI : 10.1007/978-3-540-24673-2_23

G. Kitagawa, Monte Carlo filter and smoother form non- Gaussian nonlinear state space models, Journal of Computational and Graphical Statistics, vol.5, issue.1, pp.1-25, 1996.
DOI : 10.1080/10618600.1996.10474692

. Kluge, Fast and robust tracking of multiple moving objects with a laser range finder, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001.
DOI : 10.1109/ROBOT.2001.932853

. Kurazume, Target tracking using SIR and MCMC particle filters by multiple cameras and laser range finders, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.
DOI : 10.1109/IROS.2008.4650634

. Lefevre, Classification par la théorie de l'évidence pour la gestion de tournée de véhicules, 14ème Congrès Francophone Reconnaissance des Formes et Intelligence Artificielle (RFIA), 2004.

&. Li, . Jilkov, X. R. Li, and V. P. Jilkov, A Survey of Maneuvering Target Tracking : Dynamic Models, Proc. of SPIE Conference on Signal and Data Processing of Small Target, 2000.

&. Lindstrom, . Eklundh, M. Lindstrom, and J. O. Eklundh, Detecting and tracking moving objects from a mobile platform using a laser range scanner, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2001.
DOI : 10.1109/IROS.2001.977171

&. Lu, F. Lu, and E. Milios, Robot pose estimation in unknown environment mapping, Autonomous Robots, vol.18, pp.249-275, 1997.

. Meinecke, SAVE-U : First experiences with a pre-crash system for enhancing pedestrian safety, Proc. 5th Eur. Congr. Intell. Transp, 2005.

. Mendes, Multi-target detection and tracking with a laserscanner, IEEE Intelligent Vehicles Symposium, 2004, 2004.
DOI : 10.1109/IVS.2004.1336486

&. Mochon, S. Mcmahon-]-mochon, and T. A. Mcmahon, Ballistic walking, Journal of Biomechanics, vol.13, issue.1, pp.49-57, 1980.
DOI : 10.1016/0021-9290(80)90007-X

. Monteiro, Tracking and Classification of Dynamic Obstacles Using Laser Range Finder and Vision, IEEE Intelligent Robots and Systems (IROS) Workshop : Safe Navigation in Open and Dynamic Environments -Autonomous Systems versus Driving Assistance Systems, 2006.

. Montemerlo, Conditional particle filters for simultaneous mobile robot localization and people-tracking, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002.
DOI : 10.1109/ROBOT.2002.1013439
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.329.5779

. Navarro-serment, LADAR-based Pedestrian Detection and Tracking, IEEE International Conference on Robotics and Automation (ICRA) Workshop : Human Detection from Mobile Robot Platforms : Different Perspective, 2008.

. Ngako-pangop, Asynchronous Bayesian Algorithm for Object Classification : Application to Pedestrian Detection in Urban Areas, 11th International Conference on Information Fusion, 2008.

. Nguyen, A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
DOI : 10.1109/IROS.2005.1545234

. Oh, Markov chain Monte Carlo Data Association for Multiple-Target Tracking, IEEE Conference on Decision and Control, 2004.

. Okuma, A Boosted Particle Filter: Multitarget Detection and Tracking, Proc. European Conf. on Computer Vision (ECCV), 2004.
DOI : 10.1007/978-3-540-24670-1_3

P. Oliveira and . Milheiro, Approximate filters for a nonlinear discrete time filtering problem with small observation noise, Stochastics An International Journal of Probability and Stochastic Processes, vol.46, issue.1, pp.46-47, 1994.
DOI : 10.1080/17442509408833866

. Paden, World report on road traffic injury prevention, 2004.

&. Papageorgiou, . Poggio, C. Papageorgiou, and T. Poggio, A trainable system for object detection, International Journal of Computer Vision, vol.38, issue.1, pp.15-33, 2000.
DOI : 10.1023/A:1008162616689

J. Picard, Efficiency of the extented kalman filter for nonlinear systems with small noise, Journal on Applied Mathematics, vol.51, issue.3, pp.843-885, 1991.

. Prassler, Navigating a Robotic Wheelchair in a Railway Station during Rush Hour, The International Journal of Robotics Research, vol.18, issue.7, pp.760-772, 1999.
DOI : 10.1177/02783649922066529

&. Premebida, . Nunes, C. Premebida, and U. Nunes, Segmentation and Geometric Primitives Extraction from 2D Laser Range Data for Mobile Robot Application, Proc. 5th National Festival of Robotics, Scientific Meeting (ROBOTICA), 2005.

. Premibida, A Lidar and Vision-based Approach for Pedestrian and Vehicle Detection and Tracking, 2007 IEEE Intelligent Transportation Systems Conference, 2007.
DOI : 10.1109/ITSC.2007.4357637

U. Ramer, An iterative procedure for the polygonal approximation of plane curves, Computer Graphics and Image Processing, vol.1, issue.3, pp.244-256, 1972.
DOI : 10.1016/S0146-664X(72)80017-0

D. Read, An algorithm for tracking multiple targets, IEEE Transactions on Automation and Control, vol.24, pp.84-90, 1979.

. Sarkka, Rao-Blackwellized Particle Filter for Multiple Target Tracking, 7th International Conference on Information Fusion, 2004.

. Schulz, Tracking multiple moving objects with a mobile robot, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001, 2001.
DOI : 10.1109/CVPR.2001.990499

. Shao, Detection and Tracking of Multiple Pedestrians by Using Laser Range Scanner, IEEE Intelligent Robots and Systems (IROS), 2007.

. Siadat, An Optimized Segmentation Method for a 2D Laser-Scanner Applied to Mobile Robot Navigation, 3rd IFAC Symposium on Intelligent Components and Instruments for Control Applications, 1997.

K. Smith, Bayesian Methods for Visual Multi-Object Tracking with Applications to Human Activity Recognition, 2007.

. Spinello, Multimodal Detection and Tracking of Pedesrians in Urban Environments with Explicit Ground Plane Extraction, IEEE Intelligent Robots and Systems (IROS), 2008.

. Spinello, Multiclass Multimodal Detection and Tracking in Urban Environments, 7th Field and Service Robotics (FSR), 2009.

. Szarvas, Real-time Pedestrian Detection Using LIDAR and Convolutional Neural Networks, 2006 IEEE Intelligent Vehicles Symposium, 2006.
DOI : 10.1109/IVS.2006.1689630

&. Taylor, . Probert, R. Taylor, and P. Probert, Range finding and feature extraction by segmentation of images for mobile robot navigation, Proceedings of IEEE International Conference on Robotics and Automation, 1996.
DOI : 10.1109/ROBOT.1996.503579

. Thornton, Multisensor Detection and Tracking of Humans for Safe Operation with Unmanned Ground Vehicles, IEEE International Conference on Robotics and Automation (ICRA) Workshop : Human Detection from Mobile Robot Platforms : Different Perspective, 2008.

. Vandorpe, Exact dynamic map building for a mobile robot using geometrical primitives produced by a 2D range finder, Proceedings of IEEE International Conference on Robotics and Automation, 1996.
DOI : 10.1109/ROBOT.1996.503887

. Vermaak, Particle methods for Bayesian modeling and enhancement of speech signals, IEEE Transactions on Speech and Audio Processing, vol.10, issue.3, pp.173-185, 2002.
DOI : 10.1109/TSA.2002.1001982

. Vermaak, Monte Carlo filtering for multi-target tracking and data association, IEEE Transactions on Aerospace and Electronic Systems, vol.41, issue.1, pp.309-332, 2005.
DOI : 10.1109/TAES.2005.1413764
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.61.2736

S. J. Vestli, Fast, accurate and robust estimation of mobile robot position and orientation, 1995.

. Wang and . Chieh-chih, Simultaneous Localization, Mapping and Moving Object Tracking, The International Journal of Robotics Research, vol.26, issue.9, 2004.
DOI : 10.1177/0278364907081229
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.457.7969

&. Wulf, . Wagner, O. Wulf, and B. Wagner, Fast 3D Scanning Methods For laser Measurement Systems, 14th International Conference on Control Systems and Computer Science, 2003.

. Xavier, Fast Line, Arc/Circle and Leg Detection from Laser Scan Data in a Player Driver, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2004.
DOI : 10.1109/ROBOT.2005.1570721

&. Zhang, . Ghosh, L. Zhang, and B. K. Ghosh, Line segment based map building and localization using 2D laser rangefinder, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2000.
DOI : 10.1109/ROBOT.2000.846410

&. Zhao, . Shibasaki, H. Zhao, and R. Shibasaki, A Novel System for Tracking Pedestrians Using Multiple Single-Row Laser-Range Scanners. Systems, Man and Cybernetics, Part A, IEEE Transactions, vol.35, pp.283-291, 2005.

. Zhao, Driving safety and traffic data collection - A laser scanner based approach, 2008 IEEE Intelligent Vehicles Symposium, 2008.
DOI : 10.1109/IVS.2008.4621184