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HIGH DEFINITION MAP AIDED OBJECT DETECTION FOR AUTONOMOUS DRIVING IN URBAN AREAS
Endo Yuki,Javanmardi Ehsan,Gu Yanlei,Kamijo Shunsuke 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.2
Detecting object locations and semantic classes in an image, such as traffic signs, traffic lights, and guide signs, is the crucial problem for autonomous driving, known as object detection. However, stable object detection in complex real-world environments, such as urban environments, is still challenging because of clutter, time of day, blur etc., even with modern deep convolutional neural networks (DCNNs). On the other hand, a high definition (HD) map is a pre-built information resource for autonomous driving tasks, especially for controls. Besides controls, HD map utilization for detection tasks has been gaining attention in recent years, enabling us to stabilize detection even in complex real-world environments. However, it is challenging to use object information from an HD map as detection directly because the self-localization error affects the transformed object locations on the image coordinate system from the HD map’s coordinate system. This paper explores incorporating HD map information into deep feature maps of a DCNN-based model. Two proposed modules implicitly make the feature extraction efficient and stable by utilizing HD map information. As a result of the experiments, the proposed module improved a modern model for challenging images of the urban area Shinjuku by 37 % in mAP, even in self-localization errors.
Application of Impact-Echo Method for Heterogeneous Materials
Sanghun LEE,Jun ABE,Shunsuke GOTO,Takao ENDO,TMitsuhiro TAKEDA,Masafumi KITATSUJI 한국방재학회 2014 한국방재학회 학술발표대회논문집 Vol.2014 No.-
Heterogeneous materials such as rock cannot be expected to have homogeneity so as to be used as structural materials. For example, in order to test large rocks more than one cubic meter, measures need to be taken against weaknesses such as internal cracks and fracture zones that can easily be overlooked in compressive strength tests. The impact-echo method could be available for evaluating strength and detecting internal defects in-situ concrete component with relatively good accuracy. In this study, measurements using the impact-echo method were carried for several types of rock specimens used at automobile crash safety tasting, and, by comparing the results with compression strength tests, the applicability of the impact-echo method for strength estimation of heterogeneous materials was evaluated.This work was supported by JSPS KAKENHI Grant Number 25420462.