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| Presentation | 2022-06-09 14:30 Orientation Control at An Intersection Based on Semantic Segmentation for Visual navigation Kazufumi Honda, Kouhei Saito, Hiroaki Sudo, Yuki Yuda, Yuriko Ueda, Marin Wada, Miho Adachi, Ryusuke Miyamoto (Meiji Univ.)  SIS2022-5 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | We attempt to actualize a novel visual navigation scheme that strongly depends on results of semantic segmentation. The orientation control scheme of this approach performed well only when the angle of approach at junction is in the appropriate range, because a robot can only turn according to an angle defined prior to the start of movement. This paper proposed a novel scheme of orientation control at junctions using road-following based on a target point defined according to results of semantic segmentation and road selection considering the results of Virtual LiDAR. Experiments conducted at Ikuta Campus of the Meiji University using a real robot showed that the proposed scheme could make a turn at junctions accurately. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Semantic segmentation / Virtual LiDAR / Visual Navigation / / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 122, no. 62, SIS2022-5, pp. 24-29, June 2022. | |
| Paper # | SIS2022-5 | |
| Date of Issue | 2022-06-02 (SIS) | |
| 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 | SIS2022-5 |
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| Conference Information | |
| Committee | SIS IPSJ-AVM |
| Conference Date | 2022-06-09 - 2022-06-10 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | KIT(Wakamatsu Campus) |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Intelligent Multimedia Systems, Applied Embedded Systems, Three-Dimensional Image Technology (3DIT), etc. |
| Paper Information | |
| Registration To | SIS |
| Conference Code | 2022-06-SIS-AVM |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Orientation Control at An Intersection Based on Semantic Segmentation for Visual navigation |
| Sub Title (in English) | |
| Keyword(1) | Semantic segmentation |
| Keyword(2) | Virtual LiDAR |
| Keyword(3) | Visual Navigation |
| Keyword(4) | |
| Keyword(5) | |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Kazufumi Honda |
| 1st Author's Affiliation | Meiji University (Meiji Univ.) |
| 2nd Author's Name | Kouhei Saito |
| 2nd Author's Affiliation | Meiji University (Meiji Univ.) |
| 3rd Author's Name | Hiroaki Sudo |
| 3rd Author's Affiliation | Meiji University (Meiji Univ.) |
| 4th Author's Name | Yuki Yuda |
| 4th Author's Affiliation | Meiji University (Meiji Univ.) |
| 5th Author's Name | Yuriko Ueda |
| 5th Author's Affiliation | Meiji University (Meiji Univ.) |
| 6th Author's Name | Marin Wada |
| 6th Author's Affiliation | Meiji University (Meiji Univ.) |
| 7th Author's Name | Miho Adachi |
| 7th Author's Affiliation | Meiji University (Meiji Univ.) |
| 8th Author's Name | Ryusuke Miyamoto |
| 8th Author's Affiliation | Meiji University (Meiji Univ.) |
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| Speaker | Author-1 |
| Date Time | 2022-06-09 14:30:00 |
| Presentation Time | 20 minutes |
| Registration for | SIS |
| Paper # | SIS2022-5 |
| Volume (vol) | vol.122 |
| Number (no) | no.62 |
| Page | pp.24-29 |
| #Pages | 6 |
| Date of Issue | 2022-06-02 (SIS) |
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