Towards a road-vehicle based intersection sensing

• Project/Area Number: 19300067
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: The University of Tokyo
• Principal Investigator: SHAO Xiaowei The University of Tokyo (60401311)
• Co-Investigator(Kenkyū-buntansha): 柴崎 亮介 東京大学, 空間情報科学研究センター, 教授 (70206126)
• Project Period (FY): 2007 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥19,110,000 (Direct Cost: ¥14,700,000、Indirect Cost: ¥4,410,000); Fiscal Year 2009: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000); Fiscal Year 2008: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000); Fiscal Year 2007: ¥11,310,000 (Direct Cost: ¥8,700,000、Indirect Cost: ¥2,610,000)
• Keywords: 車載センサ / 移動体の識別と追跡 / SLAM / レーザスキャナ / センサ融合 / 交通安全 / 路側センサ / 移動体 / 検知 / トラッキング / 交差点 / ネットワークセンシング / 同時位置決めとマッピング / 安全運転

Research Abstract

In order to improve intersection safety, a multi-modal intersection sensing system using laser scanners, which contains a vehicle-borne sub-system, a network sensing sub-system, and a road-vehicle fusion based sub-system, is developed, as well as the fundamental algorithms, such as data fusion, SLAMMODT, moving object detection and tracking etc. Through real experiments at a number of intersections, the system and algorithm efficiencies are studied.

Research Products

• [Journal Article] A laser scanner based approach towards driving safety and traffic data collection, IEEE Trans (2009)
  • Author(s): Zhao, H. Chiba, M., Shibasaki, R., Shao, X., Cui, J., Zha, H.
  • Journal Title: Intelligent Transportation System vol. 10, no. 3 Pages: 534-546
• [Journal Article] Sensing an intersection using a network of laser scanners and video cameras (2009)
  • Author(s): Zhao, H., Cui, J., Zha, H., Katabira, K., Shao, X., Shibasaki, R.
  • Journal Title: IEEE Intelligent Transportation Systems Magazine vol. 1, no. 2 Pages: 31-37
• [Journal Article] Driving Safety and Traffic Data Collection-A Laser Scanner Based Approach (2009)
  • Author(s): Zhao, H., Chiba, M., Shibasaki, R., Shao, X., Cui, J., Zha, H.
  • Journal Title: IEEE Trans.Intelligent Transportation Systems 10 Pages: 534-546
  • Peer Reviewed
• [Journal Article] Sensing an intersection using a network of laser scanners and video cameras (2009)
  • Author(s): Zhao, H., Cui, J., Zha, H., Kata-bira, K., Shao, X., Shibasaki, R.
  • Journal Title: IEEE Intelligent Transportation Systems Magazine 1 Pages: 31-37
  • Peer Reviewed
• [Journal Article] Moving Object Classification using Horizontal Laser Scan Data (2009)
  • Author(s): Zhao, H., Zhang, Q., Chiba, M., Shibasaki, R., Cui, J., Zha, H.
  • Journal Title: IEEE Int.Conf.on Robotics and Automation(ICRA) 1 Pages: 2424-2430
  • Peer Reviewed
• [Journal Article] Tracking a Variable Number of Pedestrians in Crowded Scenes by using Laser Ranoe Scanners (2008)
  • Author(s): Shao, X., Zhao, H., Katabira, K., Shibasaki, R., Nakagawa, Y.
  • Journal Title: IEEE Int. Conf. Systems, Man and Cybernetics Pages: 1545-1551
  • Peer Reviewed
• [Journal Article] Monitoring an intersection using a network of laser scanners (2008)
  • Author(s): Zhao, H., Cui, J., Zha, H., Katabira, K., Shao, X., Shibasaki, R.
  • Journal Title: IEEE Int. Conf. on Intelligent Transportation Systems Pages: 428-433
  • Peer Reviewed
• [Journal Article] SLAM in a Dynamic Large Outdoor Environment using a Laser Scanner (2008)
  • Author(s): Zhao, H., Chiba, M., Shibasaki, R., Shao, X., Cui, J., Zha, H.
  • Journal Title: IEEE Int. Conf. on Robotics and Automation Pages: 1455-1462
  • Peer Reviewed
• [Journal Article] SLAM in a Dynamic Large Outdoor Environment using a Laser Scanner (2008)
  • Author(s): Zhao, H., Chiba, M., Shibasaki, R., Shao, X., Cui, J., Zha, H.
  • Journal Title: IEEE lnt. Conf. on Robotics and Automation (ICRA) Pages: 1455-1462
  • Peer Reviewed
• [Journal Article] An approach of laser-based vehicle monitor (2007)
  • Author(s): Li, W., Zhang, R., Liu, Z., Zhao, H., Shibasaki, R.
  • Journal Title: Applied Mathematics and Computation 185 Pages: 953-962
  • Peer Reviewed
• [Journal Article] Detection and Tracking of Multiple Pedestrians by Using Laser Range Scanners (2007)
  • Author(s): Shao, X.W., Zhao, H., Nakamura, K, , Katabira, K., Shibasaki, R., Nakagawa, Y.
  • Journal Title: IEEE/RSJ Int.Conf.on Intelligent Robots and Systems(IROS) (CD-R)(掲載確定)
  • Peer Reviewed
• [Journal Article] Monitoring a populated environment using single-row laser range scanners from a mobile platfor (2007)
  • Author(s): Zhao, H., Chen, Y., Shao, X.W., Katabira, K., Shibasaki, R.
  • Journal Title: IEEE Int.Conf.on Robotics and Automation(ICRA) Pages: 4739-4745
  • Peer Reviewed
• [Presentation] 3D Surveillance of People by Using Swinging Laser Scanner (2009)
  • Author(s): Shao, X., Katabira, K., Zhao, H., Shibasaki, R.
  • Organizer: Proc.Asian Conference on Remote Sensing
  • Place of Presentation: Beijing, China
  • Year and Date: 2009-10-21
• [Presentation] Moving Object Classification using Horizontal Laser Scan Data (2009)
  • Author(s): Zhao, H., Zhang, Q., Chiba, M., Shibasaki, R., Cui, J., Zha, H.
  • Organizer: IEEE Int. Conf. on Robotics and Automation (ICRA)
• [Presentation] 3D Surveillance of People by Using Swinging Laser Scanner (2009)
  • Author(s): Shao, X., Katabira, K., Shibasaki, R.
  • Organizer: The 30th Asian Conference On Remote Sensing (ACRS)
• [Presentation] レーザスキャナを用いた移動ロボットの自己位置推定と地図構築 (2008)
  • Author(s): 岡田尚樹,趙卉菁,柴崎亮介,帷子京市郎
  • Organizer: 第14回画像センシングシンポジウム講演論文集
  • Place of Presentation: 横浜
  • Year and Date: 2008-06-11
• [Presentation] Monitoring an intersection using a network of laser scanners (2008)
  • Author(s): Zhao, H., Cui, J., Zha, H., Katabira, K., Shao, X., Shibasaki, R.
  • Organizer: Proc. IEEE Int. Conf, on Intelligent Transportation Systems (ITSC08)
• [Presentation] Driving Safety and Traffic Data Collection-A Laser Scanner Based Approach (2008)
  • Author(s): Zhao, H., Chiba, M., Shibasaki, R., Katabira, K., Cui, J., Zha, H.
  • Organizer: IEEE Intelligent Vehicles Symposium
• [Presentation] SLAM in a Dynamic Large Outdoor Environment using a Laser Scanner (2008)
  • Author(s): Zhao, H., Chiba, M., Shibasaki, R., Shao, X., Cui, J., Zha, H.
  • Organizer: IEEE Int. Conf on Robotics and Automation (ICRA)
• [Presentation] Tracking a Variable Number of Pedestrians in Crowded Scenes by using Laser Range Scanners (2008)
  • Author(s): Shao, X., Zhao, H., Katabira, K., Shibasaki, R., Nakagawa, Y.
  • Organizer: Proc. IEEE Int. Conf. Systems, Man and Cybernetics
• [Presentation] レーザスキャナを用いた移動ロボットの自己位置推定と地図構築 (2008)
  • Author(s): 岡田尚樹, 趙卉苦, 柴崎亮介, 帷子京市郎
  • Organizer: 第14回画像センシングシンポジウム
• [Presentation] レーザスキャナを用いた車の安全検知への試み一移動型レーザスキャナを用いた移動体の検 (2007)
  • Author(s): 趙 卉蓄、郡 肖偉、帷子 京市郎、柴崎 亮介
  • Organizer: 第6回ITSシンポジウム
  • Place of Presentation: 神戸
  • Year and Date: 2007-12-06
• [Presentation] Monitoring a populated environment using single-row laser range scanners from a mobile platform (2007)
  • Author(s): Zhao, H., Chen, Y., Shao, X., Katabira, K., Shibasaki, R.
  • Organizer: IEEE Int. Conf. on Robotics and Automation (ICRA)
• [Presentation] Tracking Multiple Pedestrians by Using Laser Range Scanners (2007)
  • Author(s): Shao, X., Zhao, H., K., Katabira, K., Shibasaki, R., Nakagawa, Y.
  • Organizer: The 28th Asian Conference On Remote Sensing (ACRS)
• [Presentation] レーザスキャナを用いた車の安全検知への試み-移動型レーザスキャナを用いた移動体の検知とトラッキング (2007)
  • Author(s): 趙卉苦, 郡肖偉, 帷子京市郎, 柴崎亮介
  • Organizer: 第6回ITSシンポジウム
• [Presentation] 移動型レーザスキャナを用いた広域における歩行者計測手法 (2007)
  • Author(s): 趙卉苦, 陳羽中、, 郡肖偉, 帷子京市郎, 柴崎亮介
  • Organizer: 第13回画像センシングシンポジウム
• [Presentation] Detection and Tracking of Multiple Pedestrians by Using Laser Range Scanners
  • Author(s): Shao, X., Zhao, H., Nakamura, K., Katabira, K., Shibasaki, R., Nakagawa, Y.
  • Organizer: Proc. IEEE/RSJ Int. Conf on Intelligent Robots and Systems (IROS07)
• [Patent(Industrial Property Rights)] 基于多激光拍描〓的数据融合方法及系統 (2008)
  • Inventor(s): 趙卉著, 柴崎亮介
  • Industrial Property Rights Holder: 北京大学、柴崎亮介
  • Filing Date: 2008-10-12
  • Overseas
• [Patent(Industrial Property Rights)] 基干多激光拍描〓的移〓目〓眼踪方法及系統 (2008)
  • Inventor(s): 趙卉苦, 柴崎亮介
  • Industrial Property Rights Holder: 北京大学、柴崎亮介
  • Filing Date: 2008-10-12
  • Overseas
• [Patent(Industrial Property Rights)] 基于多激光〓描〓的数据融合方法及系〓 (2008)
  • Inventor(s): 趙卉菁(北京大学、柴崎亮介)
  • Industrial Property Rights Holder: 北京大学、柴崎亮介
  • Filing Date: 2008-10-12
  • Overseas
• [Patent(Industrial Property Rights)] 基于多激光〓描〓的移〓目〓跟踪方法及系〓 (2008)
  • Inventor(s): 趙卉菁(北京大学、柴崎亮介)
  • Industrial Property Rights Holder: 北京大学、柴崎亮介
  • Acquisition Date: 2008-10-12
  • Overseas
• [Patent(Industrial Property Rights)] 基于多激光扫描仪的数据融合方法及系统 (2008)
  • Inventor(s): 趙卉菁(北京大学)、柴崎亮介
  • Industrial Property Rights Holder: 北京大学、柴崎亮介
  • Industrial Property Rights Type: 特許
  • Filing Date: 2008-10-12
  • Overseas