scispace - formally typeset
Search or ask a question
Author

Yoshiki Ninomiya

Bio: Yoshiki Ninomiya is an academic researcher from Nagoya University. The author has contributed to research in topics: Object detection & Feature (computer vision). The author has an hindex of 26, co-authored 81 publications receiving 2189 citations. Previous affiliations of Yoshiki Ninomiya include Massachusetts Institute of Technology & Toyota.


Papers
More filters
Journal ArticleDOI
TL;DR: An open platform using commodity vehicles and sensors is introduced to facilitate the development of autonomous vehicles and presents algorithms, software libraries, and datasets required for scene recognition, path planning, and vehicle control.
Abstract: Autonomous vehicles are an emerging application of automotive technology. They can recognize the scene, plan the path, and control the motion by themselves while interacting with drivers. Although they receive considerable attention, components of autonomous vehicles are not accessible to the public but instead are developed as proprietary assets. To facilitate the development of autonomous vehicles, this article introduces an open platform using commodity vehicles and sensors. Specifically, the authors present algorithms, software libraries, and datasets required for scene recognition, path planning, and vehicle control. This open platform allows researchers and developers to study the basis of autonomous vehicles, design new algorithms, and test their performance using the common interface.

432 citations

Journal ArticleDOI
TL;DR: A shape-independent pedestrian-detection system that needs only one pedestrian template-corresponding to a generic walking pose-and avoids brute-force searching for pedestrians throughout whole images, which typically involves brightness-similarity comparisons between candidate image patches and a multiplicity of pedestrian templates.
Abstract: Nighttime driving is more dangerous than daytime driving-particularly for senior drivers. Three to four times as many driving-related deaths occur at night than in the daytime. To improve the safety of night driving, automatic pedestrian detection based on infrared images has drawn increased attention because pedestrians tend to stand out more against the background in infrared images than they do in visible light images. Nevertheless, pedestrian detection in infrared images is by no means trivial-many of the known difficulties carry over from visible light images, such as image variability occasioned by pedestrians being in different poses. Typically, several different pedestrian templates have to be used in order to deal with a range of poses. Furthermore, pedestrian detection is difficult because of poor infrared image quality (low resolution, low contrast, few distinguishable feature points, little texture information, etc.) and misleading signals. To address these problems, this paper introduces a shape-independent pedestrian-detection method. Our segmentation algorithm first estimates pedestrians' horizontal locations through projection-based horizontal segmentation and then determines pedestrians' vertical locations through brightness/bodyline-based vertical segmentation. Our classification method defines multidimensional histogram-, inertia-, and contrast-based classification features. The features are shape-independent, complementary to one another, and capture the statistical similarities of image patches containing pedestrians with different poses. Thus, our pedestrian-detection system needs only one pedestrian template-corresponding to a generic walking pose-and avoids brute-force searching for pedestrians throughout whole images, which typically involves brightness-similarity comparisons between candidate image patches and a multiplicity of pedestrian templates. Our pedestrian-detection system is neither based on tracking nor does it depend on camera calibration to determine the relationship between an object's height and its vertical image locations. Thus, it is less restricted in applicability. Even if much work is still needed to bridge the gap between present pedestrian-detection performance and the high reliability required for real-world applications, our pedestrian-detection system is straightforward and provides encouraging results in improving speed, reliability, and simplicity.

160 citations

Journal ArticleDOI
TL;DR: An object detection method achieved by the fusion of millimeter-wave radar and a single video camera is proposed, considered as the least expensive solution because at least one camera is necessary for lane marking detection.
Abstract: In order to avoid collision with an object that blocks the course of a vehicle, measuring the distance to it and detecting positions of its side boundaries, are necessary. In the paper, an object detection method achieved by the fusion of millimeter-wave radar and a single video camera is proposed. We consider the method as the least expensive solution because at least one camera is necessary for lane marking detection. In the method, the distance is measured by the radar, and the boundaries are found from an image sequence, based on a motion stereo technique with the help of the distance measured by the radar. Since the method does not depend on the appearance of objects, it is capable of detecting not only an automobile but also other objects. Object detection by the method was confirmed through an experiment. In the experiment, both a stationary and a moving object were detected and a pedestrian as well as a vehicle was detected.

148 citations

Journal ArticleDOI
TL;DR: A novel vision-based preceding vehicle recognition method, which has the capability of recognizing a wide selection of vehicles and is capable of estimating the complex distribution due to the variety of different possible appearances for preceding vehicles is proposed.
Abstract: Preceding vehicle recognition is an important enabling technology for developing a driver assistance system and an autonomous vehicle system. However, this is difficult for computer vision to achieve because of the variety of shapes and colors in which vehicles are made. In this paper, we propose a novel vision-based preceding vehicle recognition method, which has the capability of recognizing a wide selection of vehicles. In the proposed method, classifiers learned from "vehicle" training samples and "nonvehicle" training samples are used to enable recognition. We also propose a novel classification method, the "multiclustered modified quadratic discriminant function" (MC-MQDF). The MC-MQDF is capable of estimating the complex distribution due to the variety of different possible appearances for preceding vehicles. In order to confirm the feasibility of recognizing various vehicles, and to demonstrate the advantage of the MC-MQDF over the MQDF, classification experiments were carried out using the images of various vehicles. In a complex distribution test including a variety of vehicles, the classification rate for the MC-MQDF was approximately 98%, whereas the classification rate for the ordinary MQDF technique was approximately 93%. This supports the superiority of the MC-MQDF technique over the MQDF technique, and demonstrates the feasibility of recognizing a variety of different vehicles.

120 citations

Proceedings ArticleDOI
20 Aug 2006
TL;DR: The proposed method for estimating the ego-motion of the vehicle and for detecting moving objects on roads by using a vehicle mounted monocular camera is able to detect moving objects such as vehicles and pedestrians.
Abstract: This paper proposes a method for estimating the ego-motion of the vehicle and for detecting moving objects on roads by using a vehicle mounted monocular camera. There are two problems in ego-motion estimation. Firstly, a typical road scene contains moving objects such as other vehicles. Secondly, roads display fewer feature points compared to the number associated with background structures. In our approach, ego-motion is estimated from the correspondences of feature points extracted from various regions other than those in which objects are moving. After estimating the ego-motion, the three dimensional structure of the scene is reconstructed and any moving objects are detected. In our experiments, it has been shown that the proposed method is able to detect moving objects such as vehicles and pedestrians

107 citations


Cited by
More filters
Journal ArticleDOI
TL;DR: This article places data fusion into the greater context of data integration, precisely defines the goals of data fusion, namely, complete, concise, and consistent data, and highlights the challenges of data Fusion.
Abstract: The development of the Internet in recent years has made it possible and useful to access many different information systems anywhere in the world to obtain information. While there is much research on the integration of heterogeneous information systems, most commercial systems stop short of the actual integration of available data. Data fusion is the process of fusing multiple records representing the same real-world object into a single, consistent, and clean representation.This article places data fusion into the greater context of data integration, precisely defines the goals of data fusion, namely, complete, concise, and consistent data, and highlights the challenges of data fusion, namely, uncertain and conflicting data values. We give an overview and classification of different ways of fusing data and present several techniques based on standard and advanced operators of the relational algebra and SQL. Finally, the article features a comprehensive survey of data integration systems from academia and industry, showing if and how data fusion is performed in each.

1,797 citations

Journal ArticleDOI
TL;DR: This survey provides a technology overview and review of existing literature of visible light communication and sensing and outlines important challenges that need to be addressed in order to design high-speed mobile networks using visible light Communication-VLC.
Abstract: The solid-state lighting is revolutionizing the indoor illumination. Current incandescent and fluorescent lamps are being replaced by the LEDs at a rapid pace. Apart from extremely high energy efficiency, the LEDs have other advantages such as longer lifespan, lower heat generation, and improved color rendering without using harmful chemicals. One additional benefit of LEDs is that they are capable of switching to different light intensity at a very fast rate. This functionality has given rise to a novel communication technology (known as visible light communication—VLC) where LED luminaires can be used for high speed data transfer. This survey provides a technology overview and review of existing literature of visible light communication and sensing. This paper provides a detailed survey of 1) visible light communication system and characteristics of its various components such as transmitter and receiver; 2) physical layer properties of visible light communication channel, modulation methods, and MIMO techniques; 3) medium access techniques; 4) system design and programmable platforms; and 5) visible light sensing and application such as indoor localization, gesture recognition, screen-camera communication, and vehicular networking. We also outline important challenges that need to be addressed in order to design high-speed mobile networks using visible light communication.

1,208 citations

Patent
01 Feb 1999
TL;DR: An adaptive interface for a programmable system, for predicting a desired user function, based on user history, as well as machine internal status and context, is presented for confirmation by the user, and the predictive mechanism is updated based on this feedback as mentioned in this paper.
Abstract: An adaptive interface for a programmable system, for predicting a desired user function, based on user history, as well as machine internal status and context. The apparatus receives an input from the user and other data. A predicted input is presented for confirmation by the user, and the predictive mechanism is updated based on this feedback. Also provided is a pattern recognition system for a multimedia device, wherein a user input is matched to a video stream on a conceptual basis, allowing inexact programming of a multimedia device. The system analyzes a data stream for correspondence with a data pattern for processing and storage. The data stream is subjected to adaptive pattern recognition to extract features of interest to provide a highly compressed representation that may be efficiently processed to determine correspondence. Applications of the interface and system include a video cassette recorder (VCR), medical device, vehicle control system, audio device, environmental control system, securities trading terminal, and smart house. The system optionally includes an actuator for effecting the environment of operation, allowing closed-loop feedback operation and automated learning.

1,182 citations

Journal ArticleDOI
TL;DR: A review of recent vision-based on-road vehicle detection systems where the camera is mounted on the vehicle rather than being fixed such as in traffic/driveway monitoring systems is presented.
Abstract: Developing on-board automotive driver assistance systems aiming to alert drivers about driving environments, and possible collision with other vehicles has attracted a lot of attention lately. In these systems, robust and reliable vehicle detection is a critical step. This paper presents a review of recent vision-based on-road vehicle detection systems. Our focus is on systems where the camera is mounted on the vehicle rather than being fixed such as in traffic/driveway monitoring systems. First, we discuss the problem of on-road vehicle detection using optical sensors followed by a brief review of intelligent vehicle research worldwide. Then, we discuss active and passive sensors to set the stage for vision-based vehicle detection. Methods aiming to quickly hypothesize the location of vehicles in an image as well as to verify the hypothesized locations are reviewed next. Integrating detection with tracking is also reviewed to illustrate the benefits of exploiting temporal continuity for vehicle detection. Finally, we present a critical overview of the methods discussed, we assess their potential for future deployment, and we present directions for future research.

1,181 citations

Patent
02 Aug 2001
TL;DR: In this article, an automotive auto-pilot mode is provided, which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom.
Abstract: GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.

1,134 citations