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Research on System Integration of Multiple Sensors for Collision Avoidance

Research Project

Project/Area Number 24300069
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypePartial Multi-year Fund
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionThe University of Tokyo

Principal Investigator

KAMIJO Shunsuke  東京大学, 大学院情報学環, 准教授 (70334357)

Research Collaborator GU Yanlei  東京大学, 生産技術研究所, 特任研究員 (40704838)
HSU Li-Ta  東京大学, 生産技術研究所, 特任研究員 (10739303)
Project Period (FY) 2012-04-01 – 2015-03-31
Project Status Completed (Fiscal Year 2014)
Budget Amount *help
¥18,070,000 (Direct Cost: ¥13,900,000、Indirect Cost: ¥4,170,000)
Fiscal Year 2014: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2013: ¥7,150,000 (Direct Cost: ¥5,500,000、Indirect Cost: ¥1,650,000)
Fiscal Year 2012: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
Keywords自動運転 / 歩車間通信 / 車載カメラ / 衛星測位 / デッドレコニング / ITS / センサーフュージョン / 運転支援 / 路車協調 / 車車間通信 / ポジショニング / GPS / 車載画像センサー / 歩行者検出 / 安全運転支援
Outline of Final Research Achievements

Toward the era of autonomous vehicles, localization technology of pedestrian and vehicle, fusion technology of on-board vision sensors, on-board RSSI sensors, accelerometers, magnetometric sensor, and GPS have been developed in this research. There are many researches to employ active sensors as infra-red LIDAR and millimeter wave radar for autonomous vehicles and pedestrian safety. Although these researches are very successful for some products, there are still some problems as interference among the active sensors and electric power consumptions. This research tried the strategy to integrate the passive sensors, and evaluate the abilities of passive sensors. More aggressive employment of passive sensors can relief the responsibility of active sensors to optimize the total balance of the sensor integrations.

Report

(4 results)
  • 2014 Annual Research Report   Final Research Report ( PDF )
  • 2013 Annual Research Report
  • 2012 Annual Research Report
  • Research Products

    (39 results)

All 2015 2014 2013 2012

All Journal Article (10 results) (of which Peer Reviewed: 10 results) Presentation (25 results) Patent(Industrial Property Rights) (4 results)

  • [Journal Article] Evaluation of Multi-GNSSs and GPS with 3D Map Methods for Pedestrian Positioning in an Urban Canyon Environment2015

    • Author(s)
      Li-Ta HSU, Feiyu CHEN, Shunsuke Kamijo
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E98.A Issue: 1 Pages: 284-293

    • DOI

      10.1587/transfun.E98.A.284

    • NAID

      130004770887

    • ISSN
      0916-8508, 1745-1337
    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Pedestrian Dead Reckoning for Mobile Phones Using Magnetic Deviation Map2015

    • Author(s)
      Noriaki KAKIUCHI, Kenichi SUNAGAWA, Shunsuke Kamijo
    • Journal Title

      IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

      Volume: E98.A Issue: 1 Pages: 313-322

    • DOI

      10.1587/transfun.E98.A.313

    • NAID

      130004770924

    • ISSN
      0916-8508, 1745-1337
    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 3D Building Model based Pedestrian Positioning Method using GPS/GLONASS/QZSS and Its Reliability Calculation2015

    • Author(s)
      L.-T. Hsu, Y. Gu, and S. Kamijo
    • Journal Title

      GPS Solutions (Springer)

      Volume: -

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Estimation of Pedestrian Pose and Orientation Using On-Board Camera with Histograms of Oriented Gradients Features2014

    • Author(s)
      Shinya Yano, Yanlei Gu, Shunsuke Kamijo
    • Journal Title

      International Journal of Intelligent Transportation Systems Research

      Volume: Vol.12 Issue: 2 Pages: 75-84

    • DOI

      10.1007/s13177-014-0103-2

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] GPS Positioning with Multipath Detection and Rectification using 3D Maps2014

    • Author(s)
      Shunsuke Miura, Shoma Hisaka, Shunsuke Kamijo
    • Journal Title

      International Journal of Automotive Engineering

      Volume: Vol.5, No.1 Pages: 23-29

    • NAID

      130003393873

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] GPS Error Correction by Multipath Adaption2014

    • Author(s)
      Shunsuke Miura, Shunsuke Kamijo
    • Journal Title

      International Journal of Intelligent Transportation Systems Research

      Volume: ISSN1348-8503 Pages: 1-8

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Object Detection using RSSI with Road Surface Reflection Model for Intersection Safety2013

    • Author(s)
      Shoma Hisaka, Shunsuke Kamijo
    • Journal Title

      IEICE

      Volume: Vol.E96-A, No.6 Pages: 1451-1459

    • NAID

      10031193833

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 異種HOGカスケードと差分領域特徴を用いた歩行者クラス分類2013

    • Author(s)
      金亨官, 高橋俊允, 上條俊介
    • Journal Title

      自動車技術会論文集

      Volume: Vol. 44, No. 2 Pages: 573-578

    • NAID

      130006319153

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Onboard Sensing System 10r Intersection Safety Use of Received Signal Strength Indication2012

    • Author(s)
      Shoma Hisaka and Shunsuke Kamijo
    • Journal Title

      Transportation Research Record : Journal of the Transportation Research Board

      Volume: Vol. 2324 Pages: 110-118

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 車両による遮蔽と路面反射を考慮したRSSIによる接近移動物体検知2012

    • Author(s)
      日坂翔馬, 上條俊介
    • Journal Title

      自動車技術会論文集

      Volume: Vol. 43, No. 5 Pages: 1117-1122

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Presentation] Assessment of QZSS L1-SAIF for 3D Map-Based Pedestrian Positioning Method in an Urban Environment2015

    • Author(s)
      L.-T. Hsu, Y. Gu, F. Chen, Y. Wada, and S. Kamijo
    • Organizer
      2015 International Technical Meeting of The Institute of Navigation
    • Place of Presentation
      Dana Point, USA
    • Year and Date
      2015-01-26 – 2015-01-28
    • Related Report
      2014 Annual Research Report
  • [Presentation] Vehicle Self-localization in Urban Canyon Using 3D Map based GPS Positioning and Vehicle Sensors2014

    • Author(s)
      Yanlei Gu, Yutaro Wada, Lita Hsu and Shunsuke Kamijo
    • Organizer
      The 3rd International Conference on Connected Vehicles & Expo (ICCVE 2014)
    • Place of Presentation
      Vienna, Austria
    • Year and Date
      2014-11-03 – 2014-11-07
    • Related Report
      2014 Annual Research Report
  • [Presentation] Evaluation of Multi-GNSSs and GPS with 3D Map Methods for Pedestrian Positioning in an Urban Canyon Environment2014

    • Author(s)
      Feiyu Chen,Li-Ta Hsu,and Shunsuke Kamijo
    • Organizer
      JSAE Annual Congress (Autumn)
    • Place of Presentation
      仙台市, 宮城県
    • Year and Date
      2014-10-22 – 2014-10-24
    • Related Report
      2014 Annual Research Report
  • [Presentation] Bicyclist Recognition and Orientation Estimation from On-board Vision System2014

    • Author(s)
      Yanlei Gu, and Shunsuke Kamijo
    • Organizer
      JSAE Annual Congress (Autumn)
    • Place of Presentation
      仙台市, 宮城県
    • Year and Date
      2014-10-22 – 2014-10-24
    • Related Report
      2014 Annual Research Report
  • [Presentation] Recognition and Pose Estimation of Urban Road Users from On-board Camera for Collision Avoidance2014

    • Author(s)
      Yanlei Gu, Shunsuke Kamijo
    • Organizer
      2014 IEEE 17th International Conference on Intelligent Transportaiton Systems(ITSC)
    • Place of Presentation
      Qingdao, China
    • Year and Date
      2014-10-08 – 2014-10-11
    • Related Report
      2014 Annual Research Report
  • [Presentation] Vehicle Pedestrian Signal Optimization at Intersection Utilizing Intelligent Vision Sensors2014

    • Author(s)
      Shunsuke Kamijo, Naoki Tomii, Yoshihiro Sakamoto, Toru Mabuchi, Takeshi Naito, Katsuhisa Kawasugi, Akira Kawaguchi
    • Organizer
      21st ITS World Congress
    • Place of Presentation
      Detroit, USA
    • Year and Date
      2014-09-07 – 2014-09-11
    • Related Report
      2014 Annual Research Report
  • [Presentation] GNSS Pseudorange Evaluation Using 3-Dimensional Map2014

    • Author(s)
      Shunsuke Miura, Feiyu Chen, Shunsuke Kamijo
    • Organizer
      21st ITS World Congress
    • Place of Presentation
      Detroit, USA
    • Year and Date
      2014-09-07 – 2014-09-11
    • Related Report
      2014 Annual Research Report
  • [Presentation] GPS Precise Positioning with Pseudorange Evaluation Using 3-dimensional Maps2014

    • Author(s)
      Shunsuke Miura, Feiyu Chen, Shunsuke Kamijo
    • Organizer
      IEEE Intelligent Vehicles Symposium
    • Place of Presentation
      Dearborn, USA
    • Year and Date
      2014-06-08 – 2014-06-11
    • Related Report
      2014 Annual Research Report
  • [Presentation] Pedestrian Orientation Estimation using On-board Monocular Camera with Semi-Supervised Learning2014

    • Author(s)
      Shinya Yano, Yanlei Gu, and Shunsuke Kamijo
    • Organizer
      JSAE Annual Congress (Spring)
    • Place of Presentation
      横浜市, 神奈川県
    • Year and Date
      2014-05-21 – 2014-05-23
    • Related Report
      2014 Annual Research Report
  • [Presentation] GPS Positioning Algorithm Considering the Effect of Non-Line-of-Sight and Multipath Propagation using 3D Map2014

    • Author(s)
      Shunsuke Miura, Feiyu Chen, Shunsuke Kamijo
    • Organizer
      自動車技術会 春季大会
    • Place of Presentation
      横浜市, 神奈川県
    • Year and Date
      2014-05-21 – 2014-05-23
    • Related Report
      2014 Annual Research Report
  • [Presentation] GPS Error Correction with Multipath Evaluation using 3D Maps2014

    • Author(s)
      Shunsuke Miura, Feiyu Chen, Shunsuke Kamijo
    • Organizer
      Transportation Research Board 93th Annual Meeting 2014(TRB)
    • Place of Presentation
      Wahington D.C, USA
    • Related Report
      2013 Annual Research Report
  • [Presentation] 車載カメラと歩車間通信による対歩行者衝突回避支援技術の研究2014

    • Author(s)
      矢野進也,上條俊介
    • Organizer
      STARCシンポジウム
    • Place of Presentation
      新横浜国際ホテル, 神奈川県
    • Related Report
      2013 Annual Research Report
  • [Presentation] Performance Assessment Study of Road User Sensing Method by RSSI Combinations at Real Intersections2013

    • Author(s)
      Shoma HISAKA, Shunsuke MIURA and Shunsuke KAMIJO
    • Organizer
      20th ITS World Congress
    • Place of Presentation
      東京国際フォーラム、東京都
    • Related Report
      2013 Annual Research Report
  • [Presentation] GPS Positioning with Multipath Detection and Rectification using 3D Maps2013

    • Author(s)
      Shunsuke Miura, Shoma Hisaka, and Shunsuke Kamijo
    • Organizer
      20th ITS World Congress
    • Place of Presentation
      東京国際フォーラム、東京都
    • Related Report
      2013 Annual Research Report
  • [Presentation] GPS Multipath Detection and Rectification using 3D Maps2013

    • Author(s)
      Shunsuke Miura, Shoma Hisaka, and Shunsuke Kamijo
    • Organizer
      16th International IEEE Annual Conference on Intelligent Transportation Systems
    • Place of Presentation
      Hague, Netherlands
    • Related Report
      2013 Annual Research Report
  • [Presentation] Pedestrian Dead Reckoning for Mobile Phones through Walking and Running Mode Recognition2013

    • Author(s)
      Noriaki Kakiuchi and Shunsuke Kamijo
    • Organizer
      16th International IEEE Annual Conference on Intelligent Transportation Systems
    • Place of Presentation
      Hague, Netherlands,
    • Related Report
      2013 Annual Research Report
  • [Presentation] HOG特徴量とパーティクルフィルタを用いた車載カメラからの歩行者向き推定2013

    • Author(s)
      矢野進也, 上條俊介
    • Organizer
      自動車技術会 2013秋季大会
    • Place of Presentation
      名古屋国際会議場, 愛知県
    • Related Report
      2013 Annual Research Report
  • [Presentation] 歩行/走行モードを考慮した携帯端末向け歩行者デッドレコニング2013

    • Author(s)
      垣内紀明,上條俊介
    • Organizer
      電子情報通信学会技術研究報告
    • Place of Presentation
      関西大学, 大阪府
    • Related Report
      2013 Annual Research Report
  • [Presentation] 3次元地図情報を用いたマルチパス推定によるGNSS測位精度の改善2013

    • Author(s)
      三浦俊祐,上條俊介
    • Organizer
      電子情報通信学会技術研究報告
    • Place of Presentation
      関西大学, 大阪府
    • Related Report
      2013 Annual Research Report
  • [Presentation] 異種HOGカスケードと差分領域特徴を用いた歩行者クラス分類2012

    • Author(s)
      金亨官, 高橋俊允, 上條俊介
    • Organizer
      自動車技術会 2012春季大会
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2012-05-23
    • Related Report
      2012 Annual Research Report
  • [Presentation] 車両による遮蔽と路面反射を考慮したRS S Iによる接近移動物体検知2012

    • Author(s)
      日坂翔馬, 上條俊介
    • Organizer
      自動車技術会 2012春季大会
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2012-05-23
    • Related Report
      2012 Annual Research Report
  • [Presentation] Positioning of Road Users by RSSI with Road Surface Reflection Model2012

    • Author(s)
      Shoma Hisaka and Shunsuke Kamijo
    • Organizer
      International Conference on ITSC 2012
    • Place of Presentation
      Anchorage, USA
    • Related Report
      2012 Annual Research Report
  • [Presentation] Urban Road User Classification Framework using Local Feature Descriptors and HMM2012

    • Author(s)
      Toshimitsu Takahashi, HyungKwan Kim and Shunsuke
    • Organizer
      International Conference on ITSC 2012
    • Place of Presentation
      Anchorage, USA
    • Related Report
      2012 Annual Research Report
  • [Presentation] Road User Positioning by RSSI Combinations with Pavement Reflection at Real Intersection2012

    • Author(s)
      Shoma Hisaka and Shunsuke Kamijo
    • Organizer
      International Conference on Intelligent Transport Systems Telecommunications (ITST)
    • Place of Presentation
      Taipei, Taiwan
    • Related Report
      2012 Annual Research Report
  • [Presentation] 画像局所特徴量と動作認識を用いた歩行者種別認識フレームワーク2012

    • Author(s)
      高橋俊允, 金亨官, 上條俊介
    • Organizer
      第11回ITSシンポジウム(ITS Japan)
    • Place of Presentation
      愛知県立大学
    • Related Report
      2012 Annual Research Report
  • [Patent(Industrial Property Rights)] 位置検出装置、位置検出システム及び位置検出方法2014

    • Inventor(s)
      上條俊介、三浦俊祐
    • Industrial Property Rights Holder
      上條俊介、三浦俊祐
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2014-060084
    • Filing Date
      2014-03-24
    • Related Report
      2013 Annual Research Report
  • [Patent(Industrial Property Rights)] 位置検出装置、位置検出システム及び位置出方法2014

    • Inventor(s)
      上條俊介、三浦俊祐
    • Industrial Property Rights Holder
      上條俊介、三浦俊祐
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2014-060111
    • Filing Date
      2014-03-24
    • Related Report
      2013 Annual Research Report
  • [Patent(Industrial Property Rights)] 位置検出装置及び位置検出方法2013

    • Inventor(s)
      上條俊介、三浦俊祐
    • Industrial Property Rights Holder
      上條俊介、三浦俊祐
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2013-106442
    • Filing Date
      2013-05-20
    • Related Report
      2013 Annual Research Report
  • [Patent(Industrial Property Rights)] 位置検出装置、位置検出システム及び位置検出方法2013

    • Inventor(s)
      上條俊介、三浦俊祐
    • Industrial Property Rights Holder
      上條俊介、三浦俊祐
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2013-182191
    • Filing Date
      2013-09-03
    • Related Report
      2013 Annual Research Report

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Published: 2012-04-24   Modified: 2019-07-29  

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