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| Paper Abstract and Keywords | ||
| Presentation | 2022-03-11 10:25 Judgement of Start using On-Vehicle 3D-LiDAR for Autonomous Vehicle at Temporary Stop of Intersection Yuki Komatsu (AIST/Tokyo Univ. of Science), Shin Kato (AIST), Makoto Itami (Tokyo Univ. of Science)  ITS2021-65 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | In this paper, we proposed a system for detecting moving objects at intersections and judge whether the vehicle start using on-vehicle 3D-LiDAR. After preprocessing the 3D-LiDAR point cloud, the system performs clustering and object tracking in each cell surrounded by a 2-dimensional grid to achieve moving object detection. The system then determines whether to start again based on the entry time of the moving object into the intersection. The 3D-LiDAR can be regarded as a fixed-point sensor because it recognizes the environment while the vehicle is paused, which reduces the complexity of the system. In addition, we improved the processing accuracy by corresponding to the undulations of the ground for the extraction of ground point cloud and changing the conditions according to the distance from the 3D-LiDAR for clustering. The effectiveness of the system was evaluated by testing it on an actual vehicle. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Autonomous Vehicle / MaaS / Point Cloud Processing / PCL / Ground Extraction / Clustering / Object Tracking / | |
| Reference Info. | IEICE Tech. Rep., vol. 121, no. 436, ITS2021-65, pp. 13-18, March 2022. | |
| Paper # | ITS2021-65 | |
| Date of Issue | 2022-03-04 (ITS) | |
| ISSN | 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 | ITS2021-65 |
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| Conference Information | |
| Committee | ITS IEE-ITS |
| Conference Date | 2022-03-11 - 2022-03-11 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Online |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Information Processing for ITS, etc. |
| Paper Information | |
| Registration To | ITS |
| Conference Code | 2022-03-ITS-ITS |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Judgement of Start using On-Vehicle 3D-LiDAR for Autonomous Vehicle at Temporary Stop of Intersection |
| Sub Title (in English) | |
| Keyword(1) | Autonomous Vehicle |
| Keyword(2) | MaaS |
| Keyword(3) | Point Cloud Processing |
| Keyword(4) | PCL |
| Keyword(5) | Ground Extraction |
| Keyword(6) | Clustering |
| Keyword(7) | Object Tracking |
| Keyword(8) | |
| 1st Author's Name | Yuki Komatsu |
| 1st Author's Affiliation | National Institute of Advanced Industrial Science and Technology/Tokyo University of Science (AIST/Tokyo Univ. of Science) |
| 2nd Author's Name | Shin Kato |
| 2nd Author's Affiliation | National Institute of Advanced Industrial Science and Technology (AIST) |
| 3rd Author's Name | Makoto Itami |
| 3rd Author's Affiliation | Tokyo University of Science (Tokyo Univ. of Science) |
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| Speaker | Author-1 |
| Date Time | 2022-03-11 10:25:00 |
| Presentation Time | 25 minutes |
| Registration for | ITS |
| Paper # | ITS2021-65 |
| Volume (vol) | vol.121 |
| Number (no) | no.436 |
| Page | pp.13-18 |
| #Pages | 6 |
| Date of Issue | 2022-03-04 (ITS) |
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