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Paper Abstract and Keywords
Presentation 2022-07-15 14:40
A study of reflective surface position estimation for a non-line-of-sight obstacle position estimation system using a reflection image
Yusuke Takatori, Kazuho Shiraishi, Nao Aoyagi (Kanagawa Institute of Technology) ITS2022-5
Abstract (in Japanese) (See Japanese page) 
(in English) In recent years, a method for estimating the position of an Non-Line-Of-Sight (NLOS) obstacle from an image reflected on a reflective plane using a stereo vision camera has been studied. In this paper, a method for estimating the position of the reflective surface required for position estimation calculation in the conventional method is proposed. When a reflective surface is photographed with a stereo camera, the position of the reflected image is estimated to be deeper than the surface. In the proposed method, the position of the reflective surface is estimated by using the difference in the characteristics of the obstacle detection sensor for line-of-sight and the stereo vision camera. In this paper, a system for estimating the position of a reflective surface is constructed using the Intel realsense L515 LiDAR device as a sensor for detecting obstacles in line of sight and the Intel realsense D455 as a stereo camera device. In the constructed system, the reflective surface could be identified and the position estimated with an error of within 5 cm in both the camera pointing direction and the camera lateral direction. Furthermore, the reflective plane region on the RGB image is specified from the obtained surface position information, and the reflective region is extracted.
Keyword (in Japanese) (See Japanese page) 
(in English) ITS / NLOS obstacle position estimation / stereo vision camera / / / / /  
Reference Info. IEICE Tech. Rep., vol. 122, no. 115, ITS2022-5, pp. 21-26, July 2022.
Paper # ITS2022-5 
Date of Issue 2022-07-08 (ITS) 
ISSN Online edition: ISSN 2432-6380
Copyright
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reproduction
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee ITS  
Conference Date 2022-07-15 - 2022-07-15 
Place (in Japanese) (See Japanese page) 
Place (in English) Fukuoka Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) ITS Positioning, etc. 
Paper Information
Registration To ITS 
Conference Code 2022-07-ITS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) A study of reflective surface position estimation for a non-line-of-sight obstacle position estimation system using a reflection image 
Sub Title (in English)  
Keyword(1) ITS  
Keyword(2) NLOS obstacle position estimation  
Keyword(3) stereo vision camera  
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1st Author's Name Yusuke Takatori  
1st Author's Affiliation Kanagawa Institute of Technology (Kanagawa Institute of Technology)
2nd Author's Name Kazuho Shiraishi  
2nd Author's Affiliation Kanagawa Institute of Technology (Kanagawa Institute of Technology)
3rd Author's Name Nao Aoyagi  
3rd Author's Affiliation Kanagawa Institute of Technology (Kanagawa Institute of Technology)
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Speaker Author-1 
Date Time 2022-07-15 14:40:00 
Presentation Time 25 minutes 
Registration for ITS 
Paper # ITS2022-5 
Volume (vol) vol.122 
Number (no) no.115 
Page pp.21-26 
#Pages
Date of Issue 2022-07-08 (ITS) 


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