{"created":"2025-01-19T01:15:06.730962+00:00","updated":"2025-01-19T16:50:05.689717+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00214288","sets":["1164:3980:10496:10732"]},"path":["10732"],"owner":"44499","recid":"214288","title":["複数LiDARによる大規模三次元点群を用いた歩行者トラッキング手法の実装と評価"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-11-30"},"_buckets":{"deposit":"7151c569-a0ba-4424-8146-ba6413e59cdc"},"_deposit":{"id":"214288","pid":{"type":"depid","value":"214288","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"複数LiDARによる大規模三次元点群を用いた歩行者トラッキング手法の実装と評価","author_link":["549374","549375","549376","549373","549372"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"複数LiDARによる大規模三次元点群を用いた歩行者トラッキング手法の実装と評価"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"観測","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2021-11-30","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"大阪大学大学院情報科学研究科"},{"subitem_text_value":"大阪大学大学院情報科学研究科"},{"subitem_text_value":"大阪大学大学院情報科学研究科"},{"subitem_text_value":"大阪大学大学院情報科学研究科"},{"subitem_text_value":"大阪大学大学院情報科学研究科／株式会社HULIX"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/214288/files/IPSJ-ITS21087028.pdf","label":"IPSJ-ITS21087028.pdf"},"date":[{"dateType":"Available","dateValue":"2023-11-30"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-ITS21087028.pdf","filesize":[{"value":"4.7 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"37"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"767671bd-3e5d-4074-bf79-b1df748237bc","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"右京, 莉規"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"天野, 辰哉"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"廣森, 聡仁"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"山口, 弘純"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"守屋, 充雄"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11515904","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8965","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"公共施設や商業施設など様々な人々が行きかう空間における人流計測の需要が高まっている．我々の研究グループではこれまでに，単一の深度センサが捉える三次元点群データを用いて公共空間や準公共空間における歩行者のトラッキング（軌跡導出）を行う手法を提案してきた．同手法ではオクルージョンやノイズによる点群の欠損および複数人物の接近による点群の結合といった観測点群の不完全性による人物セグメンテーションの失敗を考慮し，カルマンフィルタとそれら状況の推定を組み合わせることで，堅牢なトラッキングを実現している．本研究ではトラッキング手法を拡張し，単体の深度センサだけではなく複数の三次元測域センサ（LiDAR）により捉えられた三次元点群の入力に対応し，また実環境においてその有用性検証を行った．都市部繁華街において設置された最大検知距離 260m の LiDAR8 台から得られる広域の三次元点群を約 2 週間継続的に収集したデータを用いて提案手法の評価を行った．その結果，複数人のトラッキングにおける人検出および ID 割り当ての精度を表す MOTA が 0.849 であり，観測セグメントの合体・分裂予測を組み合わせることで，カルマンフィルタベースのトラッキングの精度が 4.7% 向上することが確かめられた．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"7","bibliographic_titles":[{"bibliographic_title":"研究報告高度交通システムとスマートコミュニティ（ITS）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2021-11-30","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"28","bibliographicVolumeNumber":"2021-ITS-87"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":214288,"links":{}}