| 講演名 | 2016-12-02 3D Scene Understanding at Urban Intersections for Autonomous Vehicles Prarthana Bhattacharyya(東大), Yanlei Gu(東大), Jiali Bao(東大), Shunsuke Kamijo(東大), |
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| 抄録(和) | 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. |
| 抄録(英) | 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. |
| キーワード(和) | 3D Scene Understanding / Digital Map / Stereo Vision / Integration / Vehicle Self-localization |
| キーワード(英) | 3D Scene Understanding / Digital Map / Stereo Vision / Integration / Vehicle Self-localization |
| 資料番号 | WBS2016-69,ITS2016-36,RCC2016-58 |
| 発行日 | 2016-11-24 (WBS, ITS, RCC) |
| 研究会情報 | |
| 研究会 | WBS / RCC / ITS |
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| 開催期間 | 2016/12/1(から2日開催) |
| 開催地（和） | サンポートホール高松 |
| 開催地（英） | Sunport Hall Takamatsu |
| テーマ（和） | ITS通信，高信頼制御通信，レーダ・センシング技術及び一般 |
| テーマ（英） | ITS Communications, Reliable Communication and Control, Rader and Sensing, etc. |
| 委員長氏名（和） | 前原 文明(早大) / 原 晋介(阪市大) / 永長 知孝(関東学院大) |
| 委員長氏名（英） | Fumiaki Maehara(Waseda Univ.) / Shinsuke Hara(Osaka City Univ.) / Tomotaka Nagaosa(Kanto Gakuin Univ.) |
| 副委員長氏名（和） | 浜村 昌則(高知工科大) / 小野 文枝(NICT) / 林 和則(京大) / 三浦 龍(NICT) / 藤井 雅弘(宇都宮大) / 和田 友孝(関西大) |
| 副委員長氏名（英） | Masanori Hamamura(Kochi Univ. of Tech.) / Fumie Ono(NICT) / Kazunori Hayashi(Kyoto Univ.) / Ryu Miura(NICT) / Masahiro Fujii(Utsunomiya Univ.) / Tomotaka Wada(Kansai Univ.) |
| 幹事氏名（和） | 佐藤 正知(東京都市大) / 能田 康義(三菱電機) / 石井 光治(香川大) / 小林 孝一(北大) / 大野 光平(明大) / 橋本 尚久(産総研) |
| 幹事氏名（英） | Masatomo Sato(Tokyo City Univ.) / Yasunori Nouda(Mitsubishi Electric) / Koji Ishii(Kagawa Univ.) / Koichi Kobayashi(Hokkaido Univ.) / Kohei Ohno(Meiji Univ.) / Naohisa Hashimoto(AIST) |
| 幹事補佐氏名（和） | 小澤 佑介(東京理科大) / 中村 聡(東京理科大) / 中村 僚兵(防衛大) / 加川 敏規(NICT) / 小林 健太郎(名大) / 間邊 哲也(埼玉大) / Yanlei Gu(東大) / 橋浦 康一郎(秋田県立大) |
| 幹事補佐氏名（英） | 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.) |
| 講演論文情報詳細 | |
| 申込み研究会 | Technical Committee on Wideband System / Technical Committee on Reliable Communication and Control / Technical Committee on Intelligent Transport Systems Technology |
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| 本文の言語 | ENG |
| タイトル（和） | |
| サブタイトル（和） | |
| タイトル（英） | 3D Scene Understanding at Urban Intersections for Autonomous Vehicles |
| サブタイトル（和） | |
| キーワード(1)（和/英） | 3D Scene Understanding / 3D Scene Understanding |
| キーワード(2)（和/英） | Digital Map / Digital Map |
| キーワード(3)（和/英） | Stereo Vision / Stereo Vision |
| キーワード(4)（和/英） | Integration / Integration |
| キーワード(5)（和/英） | Vehicle Self-localization / Vehicle Self-localization |
| 第 1 著者 氏名（和/英） | Prarthana Bhattacharyya / Prarthana Bhattacharyya |
| 第 1 著者 所属（和/英） | The University of Tokyo(略称：東大) The University of Tokyo(略称：UTokyo) |
| 第 2 著者 氏名（和/英） | Yanlei Gu / Yanlei Gu |
| 第 2 著者 所属（和/英） | The University of Tokyo(略称：東大) The University of Tokyo(略称：UTokyo) |
| 第 3 著者 氏名（和/英） | Jiali Bao / Jiali Bao |
| 第 3 著者 所属（和/英） | The University of Tokyo(略称：東大) The University of Tokyo(略称：UTokyo) |
| 第 4 著者 氏名（和/英） | Shunsuke Kamijo / Shunsuke Kamijo |
| 第 4 著者 所属（和/英） | The University of Tokyo(略称：東大) The University of Tokyo(略称：UTokyo) |
| 発表年月日 | 2016-12-02 |
| 資料番号 | WBS2016-69,ITS2016-36,RCC2016-58 |
| 巻番号（vol） | vol.116 |
| 号番号（no） | WBS-337,ITS-338,RCC-339 |
| ページ範囲 | pp.125-130(WBS), pp.125-130(ITS), pp.125-130(RCC), |
| ページ数 | 6 |
| 発行日 | 2016-11-24 (WBS, ITS, RCC) |