赵卉菁
智能感知技术;传感器技术;智能车与移动机器人;智能交通
个性化签名
- 姓名:赵卉菁
- 目前身份:
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- 学位:
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学术头衔:
博士生导师
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学科领域:
模式识别
- 研究兴趣:智能感知技术;传感器技术;智能车与移动机器人;智能交通
赵卉菁
北京大学信息科学技术学院 研究员
1999年获得工学博士学位(日本东京大学)
主要研究领域
智能感知技术;传感器技术;智能车与移动机器人;智能交通。
主要科研项目
国家高技术研究发展计划(863)项目(项目负责人),基于分布式多种传感器融合的交叉口交通数据的自动获取,2007AA11Z225, 2007-2009
国际横向合作项目(项目负责人),利用激光扫描仪的交叉口安全辅助驾驶技术的研发,2007-2009
北京大学985工程项目(项目负责人),面向环境监测的智能车与移动机器人平台的研发,2007-2010
国家自然科学基金面上项目(项目负责人),面向室外复杂动态场景的三维同时定位定向与地图创建的研究,60975061/ F030601,2010.1-2012.12
国家自然科学基金重大研究计划重点项目(子课题负责人),无人驾驶车辆智能行为综合测试环境设计与测评体系研究,90920304,2010.1-2012.12
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主页访问
1823
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关注数
0
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成果阅读
557
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成果数
12
【期刊论文】Scene Understanding in a Large Dynamic Environment through a Laser-based Sensing
赵卉菁, Huijing Zhao, Yiming Liu, Xiaolong Zhu, Yipu Zhao, Hongbin Zha
2010 IEEE International Conference on Robotics and Automation Anchorage Convention District May 3-8, 2010, Anchorage, Alaska, USA,-0001,():
-1年11月30日
It became a well known technology that a map of complex environment containing low-level geometric primitives (such as laser points) can be generated using a robot with laser scanners. This research is motivated by the need of obtaining semantic knowledge of a large urban outdoor environment after the robot explores and generates a low-level sensing data set. An algorithm is developed with the data represented in a range image, while each pixel can be converted into a 3D coordinate. Using an existing segmentation method that models only geometric homogeneities, the data of a single object of complex geometry, such as people, cars, trees etc., is partitioned into different segments. Such a segmentation result will greatly restrict the capability of object recognition. This research proposes a framework of simultaneous segmentation and classification of range image, where the classification of each segment is conducted based on its geometric properties, and homogeneity of each segment is evaluated conditioned on each object class. Experiments are presented using the data of a large dynamic urban outdoor environment, and performance of the algorithm is evaluated.
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【期刊论文】A Laser-Scanner-Based Approach Toward Driving Safety and Traffic Data Collection
赵卉菁, Huijing Zhao, Member, IEEE, Masaki Chiba, Ryosuke Shibasaki, Xiaowei Shao, Jinshi Cui, and Hongbin Zha
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 10, NO.3, SEPTEMBER 2009,-0001,():
-1年11月30日
This work is motivated by the following two potential applications: 1) enhancing driving safety and 2) collecting traffic data in a large dynamic urban environment. A laser-scanner-based approach is proposed. The problem is formulated as a simultaneous localization and mapping (SLAM) with object tracking and classification, where the focus is on managing a mixture of data from both dynamic and static objects in a highly dynamic environment. A trajectory-oriented closure is also proposed using the sporadically available global positioning system (GPS) measurements in urban areas to assist for global accuracy, particularly when the vehicle makes a noncyclical measurement in a large outdoor environment. Experiments are conducted using the data that were collected along a course near 4. 5 km in a highly dynamic environment. Possibilities of the approaches toward the two potential applications are demonstrated, and avenues for future works are discussed.
Detection,, intelligent vehicle,, laser scanner,, moving object,, SLAM,, tracking.,
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【期刊论文】Moving Object Classification using Horizontal Laser Scan Data
赵卉菁, Huijing Zhao, Quanshi Zhang, Masaki Chiba, Ryosuke Shibasaki, Jinshi Cui, Hongbin Zha
2009 IEEE International Conference on Robotics and Automation Kobe International Conference Center Kobe, Japan, May 12-17, 2009,-0001,():
-1年11月30日
Motivated by two potential applications, i. e. enhancing driving safety and traffic data collection, a system has been developed using a single-layer horizontal laser scanner as the major sensor for both localization and perception of the surroundings in a large dynamic urban environment. This research focuses on a classification method, that given a stream of laser measurements, classify the moving object into either a person, a group of people, a bicycle or a car. In this research, a number of features are defined after examining the property of data appearance. A classification method is proposed after examining the likelihood measures between each pair of feature and class. Experimental results are presented, demonstrating that the algorithm has efficiency with respect to both driving safety and traffic data collection in highly dynamic environment.
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【期刊论文】Monitoring an intersection using a network of laser scanners
赵卉菁, Huijing Zhao*, Jinshi Cui, Hongbin Zha, Kyoichiro Katabira**, Xiaowei Shao Ryosuke Shibasaki
Proceedings of the 11th International IEEE Conference on Intelligent Transportation Systems Beijing, China, October 12-15, 2008,-0001,():
-1年11月30日
In this research, a novel system for mon- itoring an intersection using a network of single-row laser range scanners (subsequently abbreviated as "laser scanner") is proposed. Laser scanners are set on the road side to profile an intersection horizontally from different viewpoints. This is done so that cross sections of the intersection are captured at a high scanning rate (e. g., 37Hz) and to contain the contour points of the moving objects entering the intersection. Different laser scanners data are integrated into a common spatial-temporal coordinate system and processed. Thus, the moving objects inside the intersection are detected and tracked to estimate their state parameters, such as: location, speed, and direction at each time instance. An experiment was conducted in central Beijing, where six laser scanners were used to cover a three-way intersection. A digital copy of the dynamic intersection was measured, and, through data processing, a large quantity of physical dimension traffic data was obtained.
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【期刊论文】Driving Safety and Traffic Data Collection-A Laser Scanner Based Approach
赵卉菁, Huijing Zhao, Masaki Chiba, Ryosuke Shibasaki, Kyoichiro Katabira, Jinshi Cui, Hongbin Zha
2008 IEEE Intelligent Vehicles Symposium Eindhoven University of Technology Eindhoven, The Netherlands, June 4-6, 2008,-0001,():
-1年11月30日
This research is motivated by two potential applications-enhancing driving safety and collecting traffic data in a large dynamic urban environment. A laser scanner based approach is proposed, in which SLAM (simultaneous localization and mapping) is developed with moving object detection and tracking using a laser scanner for perception, using GPS to achieve global accuracy, and using yaw rate and wheel speed to diagnose pose errors. Experiments are conducted to collect data along a course (4. 5 km) with a test-bed vehicle run in a highly dynamic environment. The algorithms are examined, possibilities with respect to the two potential applications are demonstrated, and future works are discussed.
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40浏览
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111下载
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【期刊论文】SLAM in a Dynamic Large Outdoor Environment using a Laser Scanner
赵卉菁, Huijing Zhao, Masaki Chiba, Ryosuke Shibasaki, Xiaowei Shao, Jinshi Cui, Hongbin Zha
2008 IEEE International Conference on Robotics and Automation Pasadena, CA, USA, May 19-23, 2008,-0001,():
-1年11月30日
In this research, we propose a method of SLAM in a dynamic large outdoor environment using a laser scanner. Focus are cast on solving two major problems: 1) achieving global accuracy especially in non-cyclical environment, 2) tackling a mixture of data from both dynamic and static objects. Algorithms are developed, where GPS data and control inputs are used to diagnose pose error and guide to achieve a global accuracy; Classification of laser points and objects are conducted not in an independent module but across the processing in a framework of SLAM with moving object detection and tracking. Experiments are conducted using the data from two test-bed vehicles, and performance of the algorithms are demonstrated.
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29浏览
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76下载
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赵卉菁, Huijing Zhao, Yuzhong Chen, Xiaowei Shao, Kyoichiro Katabira, Ryosuke Shibasaki
2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14 April 2007,-0001,():
-1年11月30日
In this research, we proposed a system of detecting and monitoring pedestrians' motion trajectories at a populated and wide environment, such as exhibition hall, supermarket etc., using the horizontally profiling single-row laser range scanners on a mobile platform. A simplified walking model is defined to track the rhythmic swing feet at the ground level. Pedestrians are recognized by detecting the braided styles, which is a typical appearance that could discriminate the data of moving feet with other mobile and motionless objects. Two experiments are conducted. One is at the laboratory environment, the purpose of which is to examine the algorithm in details. Another is at an exhibition hall, a populated and wide environment, the purpose is to examine whether the system could be applied for practical needs. It is a big challenge, while the system did well. Pedestrians in the exhibition hall at the moment of measurement are detected. Their motion trajectories are extracted, and associated to the background map, which is made of the motionless objects, and covers the whole exhibition hall.
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【期刊论文】Updating A Digital Geographic Database Using Vehicle-borne Laser Scanners and Line Cameras
赵卉菁, Huijing Zhao and Ryosuke Shibasaki
Photogrammetric Engineering & Remote Sensing Vol. 71, No.4, April 2005, pp. 415-424.,-0001,():
-1年11月30日
The Vehicle-borne Laser Measurement System (VLMS) is a mobile mapping system where three single-row laser range scanners, six line CCD cameras, and a GPS/INS-based navigation unit are mounted on a van to measure object geometry and texture along a street. This paper contributes to a method of fusing the data output of VLMS with existing geographic data sources where the focus is on the rectification of the vehicle's motion data derived from GPS/INS, which may be quite erroneous in an urban area. An algorithm is developed to correct the four variables of the vehicle's motion data, i. e., x, y, and z coordinates of the vehicle position and yaw angle of orientation by registering the laser points of the VLMS with an existing data source, e. g., a DSM. The algorithm was examined using the VLMS data that were taken in the Ginza District, Tokyo. By manually assigning 18 sets of tiepoints, the vehicle's motion data were corrected automatically and efficiently, such that the laser points of VLMS were matched to a DSM. In data fusion, a set of objects, which contained commercial signboards, traffic signs and signals, road boundaries, and road lights were extracted from the corrected VLMS data using an interface described in a previous paper. They were integrated with a 1:2500 3D map that consists of only building frames. In addition, line images from the VLMS were projected onto the building facades of the 3D map, and textures were generated automatically.
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【期刊论文】A Novel System for Tracking Pedestrians Using Multiple Single-Row Laser-Range Scanners
赵卉菁, Huijing Zhao and Ryosuke Shibasaki, Member, IEEE
IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS-PART A: SYSTEMS AND HUMANS, VOL. 35, NO.2, MARCH 2005,-0001,():
-1年11月30日
In this research, we propose a novel system for tracking pedestrians in a wide and open area, such as a shopping mall and exhibition hall, using a number of single-row laser-range scanners (LD-A), which have a profiling rate of 10 Hz and a scanning angle of 270. LD-As are set directly on the floor doing horizontal scanning at an elevation of about 20 cm above the ground, so that horizontal cross sections of the surroundings, containing moving feet of pedestrians as well as still objects, are obtained in a rectangular coordinate system of real dimension. The data of moving feet are extracted through background subtraction by the client computers that control each LD-A, and sent to a server computer, where they are spatially and temporally integrated into a global coordinate system. A simplified pedestrian’s walking model based on the typical appearance of moving feet is defined and a tracking method utilizing Kalman filter is developed to track pedestrian’s trajectories. The system is evaluated through both real experiment and computer simulation. A real experiment is conducted in an exhibition hall, where three LD-As are used covering an area of about 60 60 m2. Changes in visitors’ flow during the whole exhibition day are analyzed, where in the peak hour, about 100 trajectories are extracted simultaneously. On the other hand, a computer simulation is conducted to quantitatively examine system performance with respect to different crowd density.
Feet,, open area,, pedestrian,, single-row laser-range scanner,, tracking.,
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【期刊论文】A Vehicle-Borne Urban 3-D Acquisition System Using Single-Row Laser Range Scanners
赵卉菁, Huijing Zhao and Ryosuke Shibasaki
IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS-PART B: CYBERNETICS, VOL. 33, NO.4, AUGUST 2003,-0001,():
-1年11月30日
In this research, a novel vehicle-borne system of measuring three–dimensional (3-D) urban data using single-row laser range scanners is proposed. Two single-row laser range scanners are mounted on the roof of a vehicle, doing horizontal and vertical profiling respectively. As the vehicle moves ahead, a horizontal and a vertical range profile of the surroundings are captured at each odometer trigger. The freedom of vehicle motion is reduced from six to three by assuming that the ground surface is flat and smooth so resulting in the vehicle moving on almost the same horizontal plane. Horizontal range profiles, which have an overwhelming overlay between successive ones, are registered to trace vehicle location and attitude. Vertical range profiles are aligned to the coordinate system of the horizontal one according to the physical geometry between the pair of laser range scanners, and subsequently to a global coordinate system to make up 3-D data. An experiment is conducted where 3-D data of a real urban scene is obtained by registering and integrating 2412 horizontal and vertical range profiles. Two ground truths are used in examination. They are the outputs of a GPS/INS/Odometer based positioning system and a 1:500 digital map of the testing site. Accuracy and efficiency of the method in measuring 3-D urban scene is demonstrated.
Single-row laser range scanner,, 3-D acquisition system,, urban outdoor,, vehicle-borne.,
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