Towards a road-vehicle based intersection sensing

2009 Fiscal Year Final Research Report

• 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 (70206126)
• Project Period (FY): 2007 – 2009
• 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

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
• [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)
  • Year and Date: 20090000
• [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)
  • Year and Date: 20090000
• [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)
  • Year and Date: 20080000
• [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
  • Year and Date: 20080000
• [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)
  • Year and Date: 20080000
• [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
  • Year and Date: 20080000
• [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
  • Year and Date: 20080000
• [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)
  • Year and Date: 20070000
• [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)
  • Year and Date: 20070000
• [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
  • Year and Date: 20070000
• [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
  • Year and Date: 20070000
• [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
  • Industrial Property Number: 発明200810171317.6
  • 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
  • Industrial Property Number: 発明200810170194.4
  • Filing Date: 2008-10-12
  • Overseas