| Presentation | 2019-10-24 Intersection detection and classification for robot navigation using a monocular camera Kouchi Matsutani, Takuto Watanabe, Takuro Oki, Ryusuke Miyamoto, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | To realize autonomous mobile robot system that does not require expensive sensing devices such as LiDAR and RADAR, we think vision-based road-following and intersection detection and recognition using topological map can be the keys to the solution. In this paper, we focus on the intersection detection and recognition. For the further improvement of them, we proposed novel schemes based on deep learning, and evaluate their accuracy. For the evaluation, Ikuta dataset created in an actual environment and CARLA dataset created using a simulator for autonomous driving are used. Experimental result shows that detection and recognition achieved very high performance in both dataset. In particular, intersection recognition showed almost perfect accuracy. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Intersection detection / intersection recognition / semantic segmentation / robot navigation |
| Paper # | SIS2019-12 |
| Date of Issue | 2019-10-17 (SIS) |
| Conference Information | |
| Committee | ITE-BCT / SIS |
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| Conference Date | 2019/10/24(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Fukui International Activities Plaza |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | System Implementation Technology, Short Range Wireless Systems, Smart Multimedia Systems, Broadcasting Technology, etc. |
| Chair | Kyoichi Saito(NHK) / Takayuki Nakachi(NTT) |
| Vice Chair | / Noriaki Suetake(Yamaguchi Univ.) / Tomoaki Kimura(Kanagawa Inst. of Tech.) |
| Secretary | (NHK) / Noriaki Suetake(NTV) / Tomoaki Kimura(NEC) |
| Assistant | Shigeki Shiokawa(Kanagawa Inst. of Tech.) / Shoichiro Sekiguchi(NHK) / Toshiharu Morizumi(NTT) / Iwao Namikawa(Kansai Telecasting Corporation) / Hideaki Misawa(National Inst. of Tech., Ube College) / Yukihiro Bandoh(NTT) |
| Paper Information | |
| Registration To | Technical Group on Broadcasting and Communication Technologies / Technical Committee on Smart Info-Media Systems |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Intersection detection and classification for robot navigation using a monocular camera |
| Sub Title (in English) | |
| Keyword(1) | Intersection detection |
| Keyword(2) | intersection recognition |
| Keyword(3) | semantic segmentation |
| Keyword(4) | robot navigation |
| 1st Author's Name | Kouchi Matsutani |
| 1st Author's Affiliation | Meiji University(Meiji Univ.) |
| 2nd Author's Name | Takuto Watanabe |
| 2nd Author's Affiliation | Meiji University(Meiji Univ.) |
| 3rd Author's Name | Takuro Oki |
| 3rd Author's Affiliation | Meiji University(Meiji Univ.) |
| 4th Author's Name | Ryusuke Miyamoto |
| 4th Author's Affiliation | Meiji University(Meiji Univ.) |
| Date | 2019-10-24 |
| Paper # | SIS2019-12 |
| Volume (vol) | vol.119 |
| Number (no) | SIS-240 |
| Page | pp.pp.5-10(SIS), |
| #Pages | 6 |
| Date of Issue | 2019-10-17 (SIS) |