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Paper Abstract and Keywords
Presentation 2025-05-21 18:10
Evaluation of Free-Space Detection Methods for Cooperative Roadside Units in a Real-World Environment -- Comparison of Direct and Indirect Free-Space Detection Methods --
Shogo Jyotatsu (Canon ITS), Shunya Yamada, Yosuke Watanabe (Nagoya Univ), Kenya Sato (Doshisha Univ), Hiroaki Takada (Nagoya Univ) SeMI2025-3
Abstract (in Japanese) (See Japanese page) 
(in English) Free-space refers to the kinematic obstacle-free area in which an autonomous vehicle can safely travel. It provides valuable information for improving the accuracy of collision avoidance and path planning. In this study, we propose two methods for detecting and estimating free-space using sensors installed at a cooperative roadside unit.
One is a direct detection method, which directly detects free-space based on road surface information from high-definition maps. The other is an indirect detection method, which estimates free space using object information and the sensor’s detection range.
Experimental results show that the direct detection method is suitable for monitoring narrow areas, such as inside intersections, where high-density point clouds enable accurate detection at short distances. In contrast, the indirect detection method is effective for wide-area monitoring, such as on highways, as it can estimate free-space over a large area by leveraging object position information.
Keyword (in Japanese) (See Japanese page) 
(in English) Free-space detection / Roadside Unit / ITS / / / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 29, SeMI2025-3, pp. 13-18, May 2025.
Paper # SeMI2025-3 
Date of Issue 2025-05-14 (SeMI) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
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 SeMI IPSJ-MBL IPSJ-ITS IPSJ-DPS  
Conference Date 2025-05-21 - 2025-05-23 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To SeMI 
Conference Code 2025-05-SeMI-MBL-ITS-DPS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Evaluation of Free-Space Detection Methods for Cooperative Roadside Units in a Real-World Environment 
Sub Title (in English) Comparison of Direct and Indirect Free-Space Detection Methods 
Keyword(1) Free-space detection  
Keyword(2) Roadside Unit  
Keyword(3) ITS  
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1st Author's Name Shogo Jyotatsu  
1st Author's Affiliation Canon IT Solutions Inc. (Canon ITS)
2nd Author's Name Shunya Yamada  
2nd Author's Affiliation Nagoya University (Nagoya Univ)
3rd Author's Name Yosuke Watanabe  
3rd Author's Affiliation Nagoya University (Nagoya Univ)
4th Author's Name Kenya Sato  
4th Author's Affiliation Doshisha University (Doshisha Univ)
5th Author's Name Hiroaki Takada  
5th Author's Affiliation Nagoya University (Nagoya Univ)
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Speaker Author-2 
Date Time 2025-05-21 18:10:00 
Presentation Time 25 minutes 
Registration for SeMI 
Paper # SeMI2025-3 
Volume (vol) vol.125 
Number (no) no.29 
Page pp.13-18 
#Pages 6 
Date of Issue 2025-05-14 (SeMI) 

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