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Paper Abstract and Keywords
Presentation 2025-09-16 18:10
Wide-area Behavior Observation System using Dynamic Coordination of Multiple LiDARs
Kenji Murase, Hideyuki Miyaji, Hiroshi Yamamoto (Ritsumeikan Uni.) IA2025-26
Abstract (in Japanese) (See Japanese page) 
(in English) In a society facing rapid population decline and aging, the use of robots is being considered, but there remains a risk of collisions with pedestrians.
In indoor corridor intersections, pedestrians cannot easily perceive crossing traffic, which can result in collisions with other people or robots. To address this, systems are needed that detect blind spots and provide early warnings of potential accidents.
Previous studies have proposed installing a LiDAR and camera near outdoor intersections to monitor pedestrians and vehicles. However, because these sensors are fixed, blind spots remain, and positional relationships between pedestrians and vehicles cannot always be captured.
This study proposes a system in which multiple three-dimensional LiDARs—capable of measuring distance, position, and shape—are mounted on facilities, pedestrians, or robots. By sharing and integrating observations in real time, the system captures intersection spaces without blind spots. Point clouds from each LiDAR are aligned using relative positions estimated from IMU data, then merged into a unified map.
Finally, machine learning models are applied to dynamic objects detected in the map to identify obstacles and pedestrians, providing information for collision avoidance.
Keyword (in Japanese) (See Japanese page) 
(in English) IoT / LiDAR / / / / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 178, IA2025-26, pp. 63-68, Sept. 2025.
Paper # IA2025-26 
Date of Issue 2025-09-09 (IA) 
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)
Download PDF IA2025-26

Conference Information
Committee IA  
Conference Date 2025-09-16 - 2025-09-17 
Place (in Japanese) (See Japanese page) 
Place (in English) Hokkaido Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Internet Operation and Management, Network Architecture, Communication Protocols, IoT, etc. 
Paper Information
Registration To IA 
Conference Code 2025-09-IA 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Wide-area Behavior Observation System using Dynamic Coordination of Multiple LiDARs 
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Keyword(1) IoT  
Keyword(2) LiDAR  
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1st Author's Name Kenji Murase  
1st Author's Affiliation Ritsumeikan University (Ritsumeikan Uni.)
2nd Author's Name Hideyuki Miyaji  
2nd Author's Affiliation Ritsumeikan University (Ritsumeikan Uni.)
3rd Author's Name Hiroshi Yamamoto  
3rd Author's Affiliation Ritsumeikan University (Ritsumeikan Uni.)
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Speaker Author-1 
Date Time 2025-09-16 18:10:00 
Presentation Time 25 minutes 
Registration for IA 
Paper # IA2025-26 
Volume (vol) vol.125 
Number (no) no.178 
Page pp.63-68 
#Pages 6 
Date of Issue 2025-09-09 (IA) 

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