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Paper Abstract and Keywords
Presentation 2016-12-02 10:05
3D Scene Understanding at Urban Intersections for Autonomous Vehicles
Prarthana Bhattacharyya, Yanlei Gu, Jiali Bao, Shunsuke Kamijo (UTokyo) WBS2016-69 ITS2016-36 RCC2016-58
Abstract (in Japanese) (See Japanese page) 
(in English) Urban intersections exhibit very complex driving behavior and are extremely prone to traffic accidents and collisions. It is thus very important for autonomous vehicles to comprehensively analyze and interpret the traffic suroundings before it can plan its subsequent motion. This paper presents a stereo vision and digital map based approach for autonomous vehicles to geometrically, contextually and semantically understand the 3D driving environment at urban intersections. Stereo vision is used to detect, classify and track dynamic obstacles, while digital 2D and 3D maps of the environment are used to identify static obstacles and provide context to the dynamic traffic participants. This paper also addresses the crucial aspect of ego-position and ego-motion estimation for accurate scene understanding systems by proposing to integrate the global navigation satellite systems (GNSS), inertial navigation sensors (INS) and on-board camera. Experiments conducted in various challenging conditions at Hitotsubashi, Tokyo demonstrate the effectiveness of the proposed system in providing comprehensive awareness of the traffic surroundings.
Keyword (in Japanese) (See Japanese page) 
(in English) 3D Scene Understanding / Digital Map / Stereo Vision / Integration / Vehicle Self-localization / / /  
Reference Info. IEICE Tech. Rep., vol. 116, no. 338, ITS2016-36, pp. 125-130, Dec. 2016.
Paper # ITS2016-36 
Date of Issue 2016-11-24 (WBS, ITS, RCC) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF WBS2016-69 ITS2016-36 RCC2016-58

Conference Information
Committee WBS RCC ITS  
Conference Date 2016-12-01 - 2016-12-02 
Place (in Japanese) (See Japanese page) 
Place (in English) Sunport Hall Takamatsu 
Topics (in Japanese) (See Japanese page) 
Topics (in English) ITS Communications, Reliable Communication and Control, Rader and Sensing, etc. 
Paper Information
Registration To ITS 
Conference Code 2016-12-WBS-RCC-ITS 
Language English 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) 3D Scene Understanding at Urban Intersections for Autonomous Vehicles 
Sub Title (in English)  
Keyword(1) 3D Scene Understanding  
Keyword(2) Digital Map  
Keyword(3) Stereo Vision  
Keyword(4) Integration  
Keyword(5) Vehicle Self-localization  
1st Author's Name Prarthana Bhattacharyya  
1st Author's Affiliation The University of Tokyo (UTokyo)
2nd Author's Name Yanlei Gu  
2nd Author's Affiliation The University of Tokyo (UTokyo)
3rd Author's Name Jiali Bao  
3rd Author's Affiliation The University of Tokyo (UTokyo)
4th Author's Name Shunsuke Kamijo  
4th Author's Affiliation The University of Tokyo (UTokyo)
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Date Time 2016-12-02 10:05:00 
Presentation Time 25 
Registration for ITS 
Paper # IEICE-WBS2016-69,IEICE-ITS2016-36,IEICE-RCC2016-58 
Volume (vol) IEICE-116 
Number (no) no.337(WBS), no.338(ITS), no.339(RCC) 
Page pp.125-130 
#Pages IEICE-6 
Date of Issue IEICE-WBS-2016-11-24,IEICE-ITS-2016-11-24,IEICE-RCC-2016-11-24 

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