Seeing Nearby 3D Scenes using Ultrasonic Sensors

被引:0
|
作者
Shimoyama, Daina [1 ]
Sakaue, Fumihiko [1 ]
Kumano, Shunya [2 ]
Koyama, Yu [2 ]
Matsuura, Mitsuyasu [2 ]
Sato, Jun [1 ]
机构
[1] Nagoya Inst Technol, Showa Ku, Nagoya, Aichi 4668555, Japan
[2] SOKEN INC, Nisshin, Aichi 4700111, Japan
来源
2022 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2022年
关键词
DISTANCE MEASUREMENT;
D O I
10.1109/IV51971.2022.9827129
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The ultrasonic sensors are widely used for vehicles to extract obstacles in the scene. They can obtain the distance to the object directly at a low cost even in harsh environments. However, since the information from a single ultrasonic sensor is very limited, it has not been used for recovering the detailed 3D structure and semantic labels of the scene, unlike in-vehicle cameras or LiDARs. Therefore, we in this paper propose a method for recovering the dense 3D structure and semantic labels of the scene from a moving ultrasonic sensor mounted on a vehicle. Our method uses the raw profiles of the ultrasonic sensor signals and learns the relationship between the raw ultrasonic signals and the 3D scene using multi-task learning. As a result, our method can recover the dense 3D structure and semantic labels of the scene similar to what we would recover with cameras and LiDARs just from a single moving ultrasonic sensor. The efficiency of the proposed method is tested using real sensor data as well as synthetic sensor data.
引用
收藏
页码:1387 / 1392
页数:6
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