| Presentation | 2022-06-09 Junction Detection and Recognition Based on Results of Feature Matching Computed by SuperGlue Kohei Saito, Hiroaki Sudo, Kazufumi Honda, Marin Wada, Yuriko Ueda, Yuki Yuda, Miho Adachi, Ryusuke Miyamoto, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We attempt to actualize a novel visual navigation schemethat strongly depends on results of semantic segmentation. To actualize localization and path planning at intersections, the scheme requires intersection detection and recognition. However, the angle of approach is different at each time, the detection and recognition method at intersection with input image captured by front camera should be independent to change a location and the angle of approach. This paper proposed a novel scheme to detect and recognize junctions based on the results of feature matching by SuperGlue. Experiments conducted at Ikuta Campus of the Meiji University using a real robot showed that the proposed scheme could detect junctions and recognize them accurately. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Semantic Segmentation / Visual Place Recognition / junction detection / junction recognition |
| Paper # | SIS2022-3 |
| Date of Issue | 2022-06-02 (SIS) |
| Conference Information | |
| Committee | SIS / IPSJ-AVM |
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| Conference Date | 2022/6/9(2days) |
| 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. |
| Chair | Noriaki Suetake(Yamaguchi Univ.) / Sei Naito(KDDI Research, Inc.) |
| Vice Chair | Tomoaki Kimura(Kanagawa Inst. of Tech.) / Naoto Sasaoka(Tottori Univ.) |
| Secretary | Tomoaki Kimura(NTT) / Naoto Sasaoka(National Inst. of Tech., Ube College) / (NTT) |
| Assistant | Soh Yoshida(Kansai Univ.) / Yoshiaki Makabe(Kanagawa Inst. of Tech.) |
| Paper Information | |
| Registration To | Technical Committee on Smart Info-Media Systems / Special Interest Group on Audio Visual and Multimedia Information Processing |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Junction Detection and Recognition Based on Results of Feature Matching Computed by SuperGlue |
| Sub Title (in English) | |
| Keyword(1) | Semantic Segmentation |
| Keyword(2) | Visual Place Recognition |
| Keyword(3) | junction detection |
| Keyword(4) | junction recognition |
| 1st Author's Name | Kohei Saito |
| 1st Author's Affiliation | Meiji University(Meiji Univ.) |
| 2nd Author's Name | Hiroaki Sudo |
| 2nd Author's Affiliation | Meiji University(Meiji Univ.) |
| 3rd Author's Name | Kazufumi Honda |
| 3rd Author's Affiliation | Meiji University(Meiji Univ.) |
| 4th Author's Name | Marin Wada |
| 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 | Yuki Yuda |
| 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.) |
| Date | 2022-06-09 |
| Paper # | SIS2022-3 |
| Volume (vol) | vol.122 |
| Number (no) | SIS-62 |
| Page | pp.pp.12-17(SIS), |
| #Pages | 6 |
| Date of Issue | 2022-06-02 (SIS) |