研究者詳細 - 赤木　康宏

論文 - 赤木　康宏

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Detection of Localization Failures Using Markov Random Fields With Fully Connected Latent Variables for Safe LiDAR-Based Automated Driving

Akai, N; Akagi, Y; Hirayama, T; Morikawa, T; Murase, H

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 23 巻 ( 10 ) 頁： 17130 - 17142 2022年10月

出版者・発行元：IEEE Transactions on Intelligent Transportation Systems

Most of the recent automated driving systems assume the accurate functioning of localization. Unanticipated errors cause localization failures and result in failures in automated driving. An exact localization failure detection is necessary to ensure safety in automated driving; however, detection of the localization failures is challenging because sensor measurement is assumed to be independent of each other in the localization process. Owing to the assumption, the entire relation of the sensor measurement is ignored. Consequently, it is difficult to recognize the misalignment between the sensor measurement and the map when partial sensor measurement overlaps with the map. This paper proposes a method for the detection of localization failures using Markov random fields with fully connected latent variables. The full connection enables to take the entire relation into account and contributes to the exact misalignment recognition. Additionally, this paper presents localization failure probability calculation and efficient distance field representation methods. We evaluate the proposed method using two types of datasets. The first dataset is the SemanticKITTI dataset, whereby four methods are compared with the proposed method. The comparison results reveal that the proposed method achieves the most accurate failure detection. The second dataset is created based on log data acquired from the demonstrations that we conducted in Japanese public roads. The dataset includes several localization failure scenes. We apply the failure detection methods to the dataset and confirm that the proposed method achieves exact and immediate failure detection.

DOI： 10.1109/TITS.2022.3164397

Web of Science

Scopus

Driving behavior modeling based on hidden markov models with driver's eye-gaze measurement and ego-vehicle localization

Akai N.

IEEE Intelligent Vehicles Symposium, Proceedings 2019-June 巻頁： 949 - 956 2019年6月

Simultaneous description of logical design and implementation of automated driving systems

Akagi Y.

IEEE Intelligent Vehicles Symposium, Proceedings 2019-June 巻頁： 1565 - 1570 2019年6月

自己回帰入出力隠れマルコフモデルを用いた運転行動のモデル化

赤井直紀, 平山高嗣, モラレスルイス洋一, 赤木康宏, 劉海龍, 村瀬洋

ロボティクス・メカトロニクス講演会講演概要集 2019 巻 ( 0 ) 頁： 2A1-E05 - E05 2019年

記述言語：日本語出版者・発行元：一般社団法人日本機械学会

This paper presents a driving behavior modeling method using autoregressive input-output hidden Markov models (AIOHMMs). First, model parameter learning and discrimination ways using the AIOHMMs are detailed. In experiments, we model four driving maneuvers with driver's eye-gaze and ego-vehicle localization information and compare maneuver discrimination performances by four types of HMMs. Additionally, we discuss modeling performance by the AIOHMMs through the experiments.

DOI： 10.1299/jsmermd.2019.2a1-e05

CiNii Research

A Risk-index based Sampling Method to Generate Scenarios for the Evaluation of Automated Driving Vehicle Safety 査読有り

Y. Akagi, R. Kato, S. Kitajima, J. Antona-Makoshi and N. Uchida

IEEE Intelligent Transportation Systems Conference (ITSC) 頁： 667 - 672 2019年

自転車の他者追い越し場面における移動予測に基づく自動減速制御システムに関する研究査読有り

江澤和浩, ポンサトーンラクシンチャラーンサク, 赤木康宏, 前田健太, 児島隆生

日本機械学会論文集 84 巻 ( 865 ) 頁： 17-00557-17-00557 2018年

記述言語：日本語掲載種別：研究論文（学術雑誌）

This paper presents motion prediction model of cyclist based on potential field for a hazard-anticipatory collision avoidance braking system to enhance the collision avoidance performance and secure the smoothness of driving. The target situation is chosen as the scene that a cyclist overtakes a pedestrian or another slowcyclist based on the traffic survey. The 1st order motion predictionmethod reaches its limit under the situation that a cyclist runs towards a pedestrian or another cyclist as the prediction is conducted based on the current position and velocity of cyclist within a finite time horizon. If the overtake action of cyclist can be predicted before the cyclist changes moving direction, the vehicle maneuver to avoid collision with cyclist can be executed in advance without activating harsh braking. The trajectories of cyclists overtakes a pedestrian and a slower cyclist is measured to find the characteristics in overtake action.Motion prediction model of cyclist based on potential field is constructed by considering the trajectory analysis. The effectiveness of the proposed prediction model in the target scenario is verified by comparing the measured trajectory with the calculated data based on 1st order prediction and the proposed method.

先読み運転支援を可能にするための逆衝突確率モデルを用いた経路計画手法に関する研究査読有り

赤木康宏, ラクシンチャラーンサク, ポンサトーン

自動車技術会論文集 48 巻 ( 4 ) 頁： 859-865 - 865 2017年

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：自動車技術会

本研究では運転支援システムに用いる経路計画手法を提案する．交通参加者の周辺を走行する際の安全性を評価するために，逆衝突確率モデルとよぶモデルを構築することで，複数の交通参加者が存在する環境に対して効率的に経路を生成する．評価実験として，提案手法が生成する経路と実路の走行データの比較を行う．

CiNii Books

道路領域検出と画像レジストレーションに基づく自車両位置推定査読有り

風間恵介, 川勝俊輝, 赤木康宏, 毛利宏

日本機械学会論文集 83 巻 ( 849 ) 頁： 17-00014-17-00014 2017年

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：一般社団法人日本機械学会

This paper describes the development of a new localization method using a simple 2D map. The general method for localization using a 2D map is to match between the boundary line on the 2D map and the detected boundaries in the real world, i.e. lane markers, walls of building, or curbs. It is necessary to create a differential process in order to detect boundary lines of the road. If these methods try to detect small changes, the false-detection rate increases due to enhanced noises; if they try to reduce the effect of noise, boundary lines are misdetected. The estimation result of this method deteriorates drastically if the false-detection or misdetection of the boundary line occurs. We propose the new localization method based on the road area detection. First, the road map is extracted from the boundary lines on a 2D map. Next, the road plane image is made by the road area detected using LiDAR in the real world. Finally, the road map and the road plane image are matched by image registration. We confirmed that the proposed method have accurate estimation performance with several noise and low-cost calculation from the simulation. And we conducted the performance validation of proposed method in the real world. As a result, we confirmed the same tendency as simulation results.

DOI： 10.1299/transjsme.17-00014

Ontology based collection and analysis of traffic event data for developing intelligent vehicles 査読有り

Akagi Yasuhiro

2017 IEEE 6TH GLOBAL CONFERENCE ON CONSUMER ELECTRONICS (GCCE) 頁： . 2017年

Fundamental Study on Road Detection Method Using Multi-Layered Distance Data with HOG and SVM 査読有り

Kazama Keisuke, Akagi Yasuhiro, Raksincharoensak Pongsathorn, Mouri Hiroshi

JOURNAL OF ROBOTICS AND MECHATRONICS 28 巻 ( 6 ) 頁： 870-877 2016年12月

点と線と面のランドマークによる道に迷いにくいナビゲーション・システムとその評価査読有り

森永寛紀, 若宮翔子, 谷山友規, 赤木康宏, 小野智司, 河合由起子, 川崎洋

情報処理学会論文誌 57 巻 ( 4 ) 頁： 1227-1238 2016年4月

記述言語：日本語掲載種別：研究論文（学術雑誌）

自動車に限らず，二輪車や歩行による移動時に，スマートフォンなど携帯端末によるルート・ナビゲーション・システムを利用するユーザが増加している．しかし，二輪車による移動や歩行中に小さな画面で経路を確認することは危険をともなうほか，音声などによる案内も難しい．その解決方法として，経路や自己位置をなるべく確認しないですむように，人が記憶しやすく視認性の高いランドマークを用いたナビゲーション・システムが提案されている．それらのシステムで主に用いられているランドマークは，1)近くまで行かなければ視認できないが，ユーザの現在位置を高精度で同定できる，局所的（点の）ランドマーク（郵便局やコンビニエンスストアなど）か，2)遠方からでも視認できるが，現在位置をおおまかにしか同定できない，広域的（面の）ランドマーク（電波塔や高層ビルなど）の2種類であった．この2種類のランドマークは，その性質の違いから同時に使用することが難しく，これまでのシステムではいずれか一方を用いていた．そこで，我々は，3)すぐ近くまで行かなければ視認できないが，その範囲が線状に広がりを持つもの（電車通りや河川など）を線のランドマークとして定義し，従来困難であった複数種類のランドマークの同時使用を実現する．これにより，従来のナビゲーション・システム（最短経路やGoogle Directions）に比べ，現在位置や案内地図の参照回数を減らすことや，目的地まで短い時間で到達可能な経路を探索することができ，GPSが利用できない状況においても道に迷いにくいナビゲーションを実現した．さらに，提案手法の有効性を確認するために，仮想空間でのGoogle Street Viewを用いた移動と現地での実空間移動による評価を行い，一定の効果を確認した．Recently, the number of people who use navigation systems with mobile devices on the streets is rapidly increasing. As the increase of the number of the user of these systems, concerns on safety is arisen because it makes people to frequently reconfirm the route on small screens of mobile devices. Therefore, navigation systems using highly visible and recognizable landmarks have been proposed. The landmarks are 1) buildings that can help users identify own location accurately but cannot be recognized from far (local landmarks) and 2) tall buildings that are highly visible from a long distance but give users only rough information (global landmarks). In this paper, we define three types of landmarks according to their properties, "point landmarks" for the above 1), "area landmarks" for the above 2), and "linear landmarks" which are not visible from far but users can easily follow along. We propose a navigation system to generate route directions by exploiting several types of landmarks at the same time, which is difficult by other conventional methods. In the experiment, we tested the system with both virtural and real environments and confirmed that users of our system could reach the destination using a small number of landmarks, which means users need to check screens less than other systems.

Longitudinal and Lateral Motion Planning Method for Avoidance of Multi-Obstacles in Urban Environments Based on Inverse Collision Probability 査読有り

Akagi Yasuhiro, Raksincharoensak Pongsathorn

2016 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) 頁： 827-832 2016年

運転行動解析のための点群位置合わせに基づく走行軌跡の復元に関する研究査読有り

赤木康宏, ラクシンチャラーンサクポンサトーン

精密工学会誌 81 巻 ( 12 ) 頁： 1113-1118 2015年

記述言語：日本語掲載種別：研究論文（学術雑誌）

Advanced driving assistance systems (ADAS) for various driving scenarios are developed. To develop and to evaluate the ADAS, a large quantity and high quality database of actual driving data is needed. In this paper, we propose a driving trajectory estimation method based on a 3D point cloud. The registration methods of the point cloud (e.g. ICP) has advantages in the accuracy of the estimation of the local (short range) motion. However, since the registration methods estimate the relative motions of frame by frame, estimation errors are accumulated and it is difficult to apply the method for long distance analysis. To solve this problem, a global trajectory correction method based on GNSS information. The evaluations of the proposed system are performed by using the actual driving data in an urban road.

Stochastic Driver Speed Control Behavior Modeling in Urban Inter-sections Using Risk Potential-Based Motion Planning Framework 査読有り

Akagi Yasuhiro, Raksincharoensak Pongsathorn

2015 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) 頁： 368-373 2015年

An Analysis of an elderly driver behaviour in Urban Intersections based on a Risk Potential Model 査読有り

Akagi Yasuhiro, Raksincharoensak Pongsathorn

IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY 頁： 1627-1632 2015年

簡易な3次元ビデオ計測システムとWebベースのデータ共有サービスによる効率的な教育コンテンツ作成支援(<特集>教育・訓練・支援) 査読有り

森永寛紀, 牛之濱宅哉, 木村亮介, 赤木康宏, 三鴨道弘, 小野智司, 山之上卓, 川崎洋

VR学会論文誌 20 巻 ( 4 ) 頁： 311-321 2015年

記述言語：日本語掲載種別：研究論文（学術雑誌）

In this paper, we present an interactive 3D animation creation system that enables the user to capture, edit the moving objects and share them easily on the web. Recently, educational concept called active leaning has been becoming important in the field of education. The difference between the active leaning and usual education is that the learner actively absorbs the educational information not only from the lecturer, but also from other media contents such as videos and images. Therefore, various kinds of media contents aiming for active learning are required to help the learners. As the one of such media contents, we developed a system that can create 3D video data and share them on a web service. Concretely, in our system, the 3D contents are acquired by using Kinects on a graphical user interface. By using the proposed system, the user can edit and integrate the other contents such as music and images easily. The contents can be uploaded on the web server that provides the experience to manipulate the 3D animation intuitively through a touch interface. In this paper, we explain the overview of the proposed system and the details of the our algorithms to reconstruct 3D data. The experiment shows our system can obtain the 3D data efficiently by using a novel approach. As the conclusion, we show some demos to validate that the system is available for educational use and a user can operate the proposed system efficiently.

Exemplar-Based Hole-Filling Technique for Multiple Dynamic Objects 査読有り

Pagliardini Matteo, Akagi Yasuhiro, Slomp Marcos, Furukawa Ryo, Sagawa Ryusuke, Kawasaki Hiroshi

IMAGE AND VIDEO TECHNOLOGY, PSIVT 2013 8333 巻頁： 242-253 2014年

顔の部位識別に基づくマーカレスモーションキャプチャに関する研究査読有り

赤木康宏, 古川亮, 佐川立昌, 小川原光一, 川崎洋

精密工学会誌 79 巻 ( 11 ) 頁： 1152-1158 2013年

記述言語：日本語掲載種別：研究論文（学術雑誌）

In this paper, we propose a marker-less motion capture method for a human face. We detect the movement of a face as the deformation from the initial pose to other poses. In such cases, the non-rigid registration algorithms are commonly used to detect the movement of an object. However, since the features of the movement of a face vary in each facial part, it complicates the registration problem. In our method, we recognize the facial parts by using Random Forest algorithm to be simplified to solve the registration problem. Then, we classify the facial parts into five types : nose, mouth, eye, cheek and obstacle. And we define the feature vector of each point of the face by using Fast Point Feature Histograms and a normalized position. We train the Random Forest based on the feature vector to recognize the facial parts from an arbitrary point set data. After the recognition of the facial parts, we detect the movement of the each part by using a non-rigid registration algorithm. Finally, we combine the translations of the each point as the deformation of the face by using the deformation technique based on a Radial Basis Function. In our results, we show that the proposed method enable us to detect the motion of the face more accurately.

DEMO PAPER: A CONTENT CREATION SYSTEM FOR INTERACTIVE 3D ANIMATIONS 査読有り

Akagi Yasuhiro, Furukawa Masayuki, Fukumoto Shinya, Kawai Yukiko, Kawasaki Hiroshi

ELECTRONIC PROCEEDINGS OF THE 2013 IEEE INTERNATIONAL CONFERENCE ON MULTIMEDIA AND EXPO WORKSHOPS (ICMEW) 頁： . 2013年

INTERACTIVE 3D ANIMATION SYSTEM BASED ON TOUCH INTERFACE AND EFFICIENT CREATION TOOLS 査読有り

Akagi Yasuhiro, Furukawa Masayuki, Fukumoto Shinya, Kawai Yukiko, Kawasaki Hiroshi

2013 IEEE INTERNATIONAL CONFERENCE ON MULTIMEDIA AND EXPO (ICME 2013) 頁： . 2013年

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