Abstract: For urban traffic safety, a camera and laser scanner codetection method was presented. A proper ROI (region of interests) can be located based on the perspective transform between the camera coordinate and laser scanner coordinate, and a method of synchronization is induced from dead reckoning. In the process of laser scanner’s cluster, a simple rule is proposed for object segmentation based on pedestrian’s width. It can separate pedestrian side by side effectively. Then, vision based method is used for identification of pedestrian. First, a method of pretreatment for ROI is introduced according to the characteristics of the symmetry of pedestrian’s edge. Second, a template matching method based on Hausdorff distance is applied to match the upperbody template by laser scanner’s distance refinement. The experimental results are relatively ideal.