| Presentation | 2016-12-02 3D Scene Understanding at Urban Intersections for Autonomous Vehicles Prarthana Bhattacharyya, Yanlei Gu, Jiali Bao, Shunsuke Kamijo, |
|---|---|
| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Urban intersections exhibit very complex driving behavior and are extremely prone to traffic accidents and collisions. It is thus very important for autonomous vehicles to comprehensively analyze and interpret the traffic suroundings before it can plan its subsequent motion. This paper presents a stereo vision and digital map based approach for autonomous vehicles to geometrically, contextually and semantically understand the 3D driving environment at urban intersections. Stereo vision is used to detect, classify and track dynamic obstacles, while digital 2D and 3D maps of the environment are used to identify static obstacles and provide context to the dynamic traffic participants. This paper also addresses the crucial aspect of ego-position and ego-motion estimation for accurate scene understanding systems by proposing to integrate the global navigation satellite systems (GNSS), inertial navigation sensors (INS) and on-board camera. Experiments conducted in various challenging conditions at Hitotsubashi, Tokyo demonstrate the effectiveness of the proposed system in providing comprehensive awareness of the traffic surroundings. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | 3D Scene Understanding / Digital Map / Stereo Vision / Integration / Vehicle Self-localization |
| Paper # | WBS2016-69,ITS2016-36,RCC2016-58 |
| Date of Issue | 2016-11-24 (WBS, ITS, RCC) |
| Conference Information | |
| Committee | WBS / RCC / ITS |
|---|---|
| Conference Date | 2016/12/1(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Sunport Hall Takamatsu |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | ITS Communications, Reliable Communication and Control, Rader and Sensing, etc. |
| Chair | Fumiaki Maehara(Waseda Univ.) / Shinsuke Hara(Osaka City Univ.) / Tomotaka Nagaosa(Kanto Gakuin Univ.) |
| Vice Chair | Masanori Hamamura(Kochi Univ. of Tech.) / Fumie Ono(NICT) / Kazunori Hayashi(Kyoto Univ.) / Ryu Miura(NICT) / Masahiro Fujii(Utsunomiya Univ.) / Tomotaka Wada(Kansai Univ.) |
| Secretary | Masanori Hamamura(Tokyo City Univ.) / Fumie Ono(Mitsubishi Electric) / Kazunori Hayashi(Kagawa Univ.) / Ryu Miura(Hokkaido Univ.) / Masahiro Fujii(Meiji Univ.) / Tomotaka Wada(AIST) |
| Assistant | Yusuke Kozawa(Tokyo Univ. of Science) / Akira Nakamura(Tokyo Univ. of Science) / Ryohei Nakamura(National Defense Academy) / Toshinori Kagawa(NICT) / Kentaro Kobayashi(Nagoya Univ.) / Tetsuya Manabe(Saitama Univ.) / Yanlei Gu(Univ. of Tokyo) / Koichiro Hashiura(Akita Pref. Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Wideband System / Technical Committee on Reliable Communication and Control / Technical Committee on Intelligent Transport Systems Technology |
|---|---|
| Language | ENG |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | 3D Scene Understanding at Urban Intersections for Autonomous Vehicles |
| Sub Title (in English) | |
| Keyword(1) | 3D Scene Understanding |
| Keyword(2) | Digital Map |
| Keyword(3) | Stereo Vision |
| Keyword(4) | Integration |
| Keyword(5) | Vehicle Self-localization |
| 1st Author's Name | Prarthana Bhattacharyya |
| 1st Author's Affiliation | The University of Tokyo(UTokyo) |
| 2nd Author's Name | Yanlei Gu |
| 2nd Author's Affiliation | The University of Tokyo(UTokyo) |
| 3rd Author's Name | Jiali Bao |
| 3rd Author's Affiliation | The University of Tokyo(UTokyo) |
| 4th Author's Name | Shunsuke Kamijo |
| 4th Author's Affiliation | The University of Tokyo(UTokyo) |
| Date | 2016-12-02 |
| Paper # | WBS2016-69,ITS2016-36,RCC2016-58 |
| Volume (vol) | vol.116 |
| Number (no) | WBS-337,ITS-338,RCC-339 |
| Page | pp.pp.125-130(WBS), pp.125-130(ITS), pp.125-130(RCC), |
| #Pages | 6 |
| Date of Issue | 2016-11-24 (WBS, ITS, RCC) |