| Presentation | 2022-07-15 A study of reflective surface position estimation for a non-line-of-sight obstacle position estimation system using a reflection image Yusuke Takatori, Kazuho Shiraishi, Nao Aoyagi, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In recent years, a method for estimating the position of an Non-Line-Of-Sight (NLOS) obstacle from an image reflected on a reflective plane using a stereo vision camera has been studied. In this paper, a method for estimating the position of the reflective surface required for position estimation calculation in the conventional method is proposed. When a reflective surface is photographed with a stereo camera, the position of the reflected image is estimated to be deeper than the surface. In the proposed method, the position of the reflective surface is estimated by using the difference in the characteristics of the obstacle detection sensor for line-of-sight and the stereo vision camera. In this paper, a system for estimating the position of a reflective surface is constructed using the Intel realsense L515 LiDAR device as a sensor for detecting obstacles in line of sight and the Intel realsense D455 as a stereo camera device. In the constructed system, the reflective surface could be identified and the position estimated with an error of within 5 cm in both the camera pointing direction and the camera lateral direction. Furthermore, the reflective plane region on the RGB image is specified from the obtained surface position information, and the reflective region is extracted. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | ITS / NLOS obstacle position estimation / stereo vision camera |
| Paper # | ITS2022-5 |
| Date of Issue | 2022-07-08 (ITS) |
| Conference Information | |
| Committee | ITS |
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| Conference Date | 2022/7/15(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Fukuoka Univ. |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | ITS Positioning, etc. |
| Chair | Masahiro Fujii(Utsunomiya Univ.) |
| Vice Chair | Kohei Ohno(Meiji Univ.) / Naohisa Hashimoto(AIST) |
| Secretary | Kohei Ohno(Toyama Prefectural Univ.) / Naohisa Hashimoto(NIT, Tsuruoka College) |
| Assistant | Msataka Imao(Mitsubishi Electric) / Taishi Swabe(NAIST) / Keiji Jimi(Gunma Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Intelligent Transport Systems Technology |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A study of reflective surface position estimation for a non-line-of-sight obstacle position estimation system using a reflection image |
| Sub Title (in English) | |
| Keyword(1) | ITS |
| Keyword(2) | NLOS obstacle position estimation |
| Keyword(3) | stereo vision camera |
| 1st Author's Name | Yusuke Takatori |
| 1st Author's Affiliation | Kanagawa Institute of Technology(Kanagawa Institute of Technology) |
| 2nd Author's Name | Kazuho Shiraishi |
| 2nd Author's Affiliation | Kanagawa Institute of Technology(Kanagawa Institute of Technology) |
| 3rd Author's Name | Nao Aoyagi |
| 3rd Author's Affiliation | Kanagawa Institute of Technology(Kanagawa Institute of Technology) |
| Date | 2022-07-15 |
| Paper # | ITS2022-5 |
| Volume (vol) | vol.122 |
| Number (no) | ITS-115 |
| Page | pp.pp.21-26(ITS), |
| #Pages | 6 |
| Date of Issue | 2022-07-08 (ITS) |