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This paper presents a novel human detection method based on a Bayesian fusion approach using laser range data and camera images. Laser range data analysis groups data points with a novel graph cutting method. Therefore, it computes a belief to each cluster based on the evaluation of multidimensional features that describe geometrical properties. A person detection algorithm based on dense overlapping grid of Histograms of Oriented Gradients (HOG) is processed on the image area determined bydoi:10.1109/robot.2008.4543708 dblp:conf/icra/SpinelloS08 fatcat:o4yjhucwtrc2hodahfe6vz6l5i