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| 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 |
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| 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 | |
| Copyright and reproduction |
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 |
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| 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 |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 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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| Speaker | 2 |
| 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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