IV'21 Sponsored by the
IEEE Intelligent Transportation Systems Society
32nd IEEE Intelligent Vehicles Symposium July 11-15, 2021. Nagoya University, Nagoya, Japan
  
2021 IEEE Intelligent Vehicles Symposium (IV)
July 11-17, 2021, Nagoya University, Nagoya, Japan

Program at a Glance    Sunday    Monday    Author Index    Keyword Index  

Last updated on June 25, 2021. This conference program is tentative and subject to change

Technical Program for Sunday July 11, 2021

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WS-M101 VirtualRoom
Workshop on Security Challenges in Intelligent Transportation Systems
(SCITS)
Workshop
 
08:00-11:00, Paper WS-M101.1 
Blockchain Based Vehicle Authentication Scheme for Vehicular Ad-Hoc Networks (I)

Maria Stephen, SteffieUniversity of Windsor
Jaekel, ArunitaUniversity of Windsor
 
08:00-11:00, Paper WS-M101.2 
ADS-B Attack Classification Using Machine Learning Techniques (I)

Kacem, ThabetUniversity of the District of Columbia
Kaya, AydinÇankaya University
Keçeli, Ali SeydiCankaya University
Catal, CagatayQatar University
Wijesekera, DumindaGeorge Mason University
Costa, PauloGeorge Mason University
 
08:00-11:00, Paper WS-M101.3 
Cybersecurity Threats in Connected and Automated Vehicles Based Federated Learning Systems (I)

Al Mallah, RanwaPolytechnique Montreal
Badu-Marfo, GodwinConcordia University
Farooq, BilalRyerson University
 
WS-M110 VirtualRoom
Trust Calibration for Human-Automated Vehicle Interactions Workshop
 
08:00-11:00, Paper WS-M110.1 
Influences on Drivers’ Understandings of Systems by Presenting Image Recognition Results (I)

Yang, BoThe University of Tokyo
Inoue, KoichiroThe University of Tokyo
Kitazaki, SatoshiNational Institute of Advanced Industrial Science and Technology
Nakano, KimihikoThe University of Tokyo
 
08:00-11:00, Paper WS-M110.2 
Human-Vehicle Cooperation on Prediction-Level: Enhancing Automated Driving with Human Foresight (I)

Wang, ChaoHonda Research Institute Europe GmbH
Weisswange, Thomas H.Honda Research Institute Europe GmbH
Krüger, MattiHonda Research Institute Europe GmbH
Wiebel-Herboth, ChristianeHonda Research Institute Europe
 
WS-M111 VirtualRoom
Second Workshop on Online Map Validation and Road Model Creation Workshop
 
08:00-11:00, Paper WS-M111.1 
Online and Adaptive Parking Availability Mapping: An Uncertainty-Aware Active Sensing Approach for Connected Vehicles (I)

Varotto, LucaUniversity of Padova
Cenedese, AngeloUniversity of Padova
 
08:00-11:00, Paper WS-M111.2 
HD Map Error Detection Using Smoothing and Multiple Drives (I)

Welte, AnthonyUTC
Xu, PhilippeUniversity of Technology of Compiegne
Bonnifait, PhilippeUniversity of Technology of Compiegne
Zinoune, ClémentUniversity of Technologie of Compiègne, Renault SAS
 
08:00-11:00, Paper WS-M111.3 
Use of Probabilistic Graphical Methods for Online Map Validation (I)

Fabris, AndreaUniversity
Parolini, LucaBMW Group
Schneider, SebastianBMW AG
Cenedese, AngeloUniversity of Padova
 
08:00-11:00, Paper WS-M111.4 
Towards Knowledge-Based Road Modeling for Automated Vehicles: Analysis and Concept for Incorporating Prior Knowledge (I)

Fricke, JennyVolkswagen AG
Plachetka, ChristopherVolkswagen AG
Rech, BerndVolkswagen AG
 
WS-M112 VirtualRoom
Workshop on Human Factors in Intelligent Vehicles Workshop
 
08:00-11:00, Paper WS-M112.1 
Real-World Evaluation of the Impact of Automated Driving System Technology on Driver Gaze Behavior, Reaction Time and Trust (I)

Morales-Alvarez, WalterJohannes Kepler University
Marouf, MohamedIAV S.A.S.U
Tadjine, Hadj HammaIAV GmbH
Olaverri-Monreal, CristinaJohannes Kepler University Linz
 
WS-M113 VirtualRoom
Intelligent Transportation Systems, Intelligent Vehicles and Advanced
Driver Assistant Systems for Unstructured Environments (ITSIVUE 2021)
Workshop
 
08:00-11:00, Paper WS-M113.1 
Precise Self-Localization for Last Mile Delivery Automated Driving in Unstructured Environments (I)

Czerwionka, PaulIAV GmbH
Pucks, FabianIntelligent Systems Functions Department, IAV GmbH
Harte, HansIntelligent Systems Functions Department, IAV GmbH
Blaschek, RomanIntelligent Systems Functions Department, IAV GmbH
Treiber, RobertIAV GmbH
Hussein, AhmedIAV GmbH
 
08:00-11:00, Paper WS-M113.2 
Dynamic Reconfiguration of Automotive Architectures Using a Novel Plug-And-Play Approach (I)

Stoll, HannesKarlsruhe Institute of Technology
Grimm, DanielKarlsruher Institut Für Technologie (KIT)
Schindewolf, MarcKarlsruhe Institute of Technology (KIT)
Brodatzki, MichelKarlsruhe Institute of Technology (KIT)
Sax, EricKarlsruhe Institute of Technology
 
08:00-11:00, Paper WS-M113.3 
Precise Control for Deep Driving Using Dual Critic Based DRL Approaches (I)

Gupta, SurbhiBennett University
Singal, GauravBennett University
Garg, DeepakBennett University
 
08:00-11:00, Paper WS-M113.4 
Validation of a Radar Sensor Model under Non-Ideal Conditions for Testing Automated Driving Systems (I)

Wachtel Granado, DiogoTechnische Hochschule Ingolstadt
Schröder, SabineTechnische Hochschule Ingolstadt
Reway, FabioTechnische Hochschule Ingolstadt
Huber, WernerBMW Group Research and Technology
Vossiek, MartinFAU Erlangen-Nuremberg, Institute of Microwaves and Photonics (L
 
08:00-11:00, Paper WS-M113.5 
Detection of Collective Anomalies in Images for Automated Driving Using an Earth Mover’s Deviation (EMDEV) Measure (I)

Breitenstein, JasminTechnische Universität Braunschweig
Bär, AndreasTechnische Universität Braunschweig - Institute for Communicatio
Lipinski, DanielVolkswagen Group Research
Fingscheidt, TimTechnische Universität Braunschweig
 
WS-M114 VirtualRoom
Cooperative Driving in Mixed Traffic Workshop
 
08:00-11:00, Paper WS-M114.1 
Trajectory Planner for Platoon Lane Change (I)

Wang, HaoranTongji University
Lai, JintaoTongji University
Hu, JiaTongji University, Federal Highway Administration
 
08:00-11:00, Paper WS-M114.2 
Research on Optimization and Evaluation Method of the Car Following Model Based on SUMO Application Test Scenario (I)

Sun, QianjingCompany
Wang, YongChongqing University
Zeng, LingqiuChongqing University
Han, QingwenChongqing University
Xie, QinglongChongqing University
Ye, LeiChongqing University
Xie, FukunChongqing University
 
08:00-11:00, Paper WS-M114.3 
An Adaptive Cooperative Adaptive Cruise Control against Varying Vehicle Loads (I)

Yiming, ZhangKey Laboratory of Road and Traffic Engineering of the Ministry O
Hu, JiaTongji University, Federal Highway Administration
Wang, HaoranTongji University
Wu, ZhizhouTongji University
 
08:00-11:00, Paper WS-M114.4 
Predicting Motorcycle Riding Behavior Using Vehicle Density Variation (I)

Koshizen, TakamasaHonda R&D Co. Ltd
Sato, FumiakiToho University
Oishi, RyokaToho University
Yamakawa, KazuhikoPT. Mitrapacific Consulindo International
 
WS-M115 VirtualRoom
The 2nd International Workshop on Chassis Systems Control and Autonomous
Driving Control (CSC-AD’21)
Workshop
 
08:00-11:00, Paper WS-M115.1 
Observer Design with Performance Guarantees for Vehicle Control Purposes Via the Integration of Learning-Based and LPV Approaches (I)

Fenyes, DanielInstitute for Computer Science and Control (SZTAKI)
Tamas, HegedusSZTAKI
Németh, BalázsMTA SZTAKI Institute for Computer Science and Control
Gaspar, PeterHungarian Academy of Sciences - Institute for Computer Science A
 
08:00-11:00, Paper WS-M115.2 
Numerically Stable Dynamic Bicycle Model for Discrete-Time Control (I)

Ge, QiangTsinghua University
Sun, QiTsinghua University
Li, Shengbo EbenTsinghua University
Zheng, SifaTsinghua University
Xi, ChenGeekplus Technology CO., Ltd
Wu, WeiTsinghua University
 
WS-M116 VirtualRoom
Road Vehicle Teleoperation Workshop
 
08:00-11:00, Paper WS-M116.1 
Regulating Road Vehicle Teleoperation: Back to the Near Future (I)

Almestrand Linné, PhilipThe Swedish National Road and Transport Research Institute (VTI)
Andersson, JeanetteThe Swedish National Road and Transport Research Institute (VTI)
 
08:00-11:00, Paper WS-M116.2 
Active Safety System for Semi-Autonomous Teleoperated Vehicles (I)

Saparia, Smit JamanDelft University of Technology
Schimpe, AndreasTechnical University of Munich
Ferranti, LauraDelft University of Technology
 
08:00-11:00, Paper WS-M116.3 
Adaptive Video Bitrate Allocation and Configuration for Teleoperated Vehicles (I)

Schimpe, AndreasTechnical University of Munich
Hoffmann, SimonTechnical University of Munich
Diermeyer, FrankTechnische Universität München
 
WS-M117 VirtualRoom
2nd Workshop on Naturalistic Road User Data and Its Applications for
Automated Driving
Workshop
 
08:00-11:00, Paper WS-M117.1 
Pedestrian Trajectory Prediction Via Spatial Interaction Transformer Network (I)

Su, TongUniversity of Science and Technology Beijing
Meng, YuUniversity of Science and Technology Beijing
Xu, YanUniversity of Science and Technology Beijing
 
08:00-11:00, Paper WS-M117.2 
Learning to Drive from Observations While Staying Safe (I)

Boborzi, DamianAugsburg University and ETAS GmbH
Kleinicke, FlorianHeidelberg University and ETAS GmbH
Buchner, JensETAS GmbH
Mikelsons, LarsAugsburg University
 
08:00-11:00, Paper WS-M117.3 
Understanding and Predicting Overtaking and Fold-Down Lane-Changing Maneuvers on European Highways Using Naturalistic Road User Data (I)

Khelfa, BasmaDivision for Traffic Safety and Reliability, University of Wuppe
Tordeux, AntoineUniversity of Wuppertal
 
08:00-11:00, Paper WS-M117.4 
The ConScenD Dataset: Concrete Scenarios from the highD DatasetAccording to ALKS Regulation UNECE R157 in OpenX (I)

Tenbrock, AlexanderFka GmbH
König, AlexanderFka GmbH
Keutgens, ThomasFka GmbH
Weber, HendrikInstitute for Automotive Engineering (ika), RWTH Aachen Universi
 
WS-M118 VirtualRoom
4th Workshop on “Ensuring and Validating Safety for Automated Vehicles” Workshop
 
08:00-11:00, Paper WS-M118.1 
Validation of Simulation-Based Testing: Bypassing Domain Shift with Label-To-Image Synthesis (I)

Rosenzweig, JuliaFraunhofer IAIS
Brito, EduardoFraunhofer IAIS
Kobialka, Hans-UlrichFraunhofer IAIS
Akila, MaramFraunhofer IAIS
Schmidt, Nico M.CARIAD SE
Schlicht, PeterCARIAD S.E
Schneider, Jan DavidVolkswagen AG
Hüger, FabianCARIAD SE
Rottmann, MatthiasUniversity of Wuppertal
Houben, SebastianFraunhofer IAIS
Wirtz, TimFraunhofer IAIS
 
08:00-11:00, Paper WS-M118.2 
Spatial Sampling and Integrity in Lane Grid Maps (I)

Sanchez, CorentinUniversity of Technologie of Compiegne
Xu, PhilippeUniversity of Technology of Compiegne
Armand, AlexandreRenault SA
Bonnifait, PhilippeUniversity of Technology of Compiegne
 
08:00-11:00, Paper WS-M118.3 
Parameter-Based Testing and Debugging of Autonomous Driving Systems (I)

Arcaini, PaoloNational Institute of Informatics
Calò, AlessandroTechnical University of Munich
Ishikawa, FuyukiNational Institute of Informatics
Laurent, ThomasUniversity College Dublin
Zhang, Xiao-YiNational Institute of Informatics
Ali, ShaukatSimula Research Laboratory
Hauer, FlorianTechnical University of Munich
Ventresque, AnthonySFI Lero & University College Dublin
 
08:00-11:00, Paper WS-M118.4 
Constrained Sampling from a Kernel Density Estimator to Generate Scenarios for the Assessment of Automated Vehicles (I)

de Gelder, ErwinTNO
Cator, EricRadboud University Nijmegen
Paardekooper, Jan-PieterTNO
Op den Camp, OlafTNO
De Schutter, BartDelft University of Technology
 
08:00-11:00, Paper WS-M118.5 
Fundamental Design Criteria for Logical Scenarios in Simulation-Based Safety Validation of Automated Driving Using Sensor Model Knowledge (I)

Elster, LukasTechnical University Darmstadt
Linnhoff, ClemensTechnische Universitaet Darmstadt
Rosenberger, PhilippTechnische Universität Darmstadt
Schmidt, SimonVolkswagen AG
Stark, RainerTU Berlin
Winner, HermannTechnische Universität Darmstadt
 
WS-M119 VirtualRoom
3D-DLAD : 3D-Deep Learning for Autonomous Driving Workshop
 
08:00-11:00, Paper WS-M119.1 
Unsupervised Joint Multi-Task Learning of Vision Geometry Tasks (I)

Jha, Prabhash KumarMobis Technical Center Europe; TU Darmstadt
Tsanev, DoychinMobis Technical Center Europe
Lukic, LukaMobis Technical Center Europe
 
08:00-11:00, Paper WS-M119.2 
The Oxford Road Boundaries Dataset (I)

Suleymanov, TarlanUniversity of Oxford
Gadd, MatthewOxford Robotics Institute, University of Oxford
De Martini, DanieleUniversity of Oxford
Newman, PaulUniversity of Oxford
 
08:00-11:00, Paper WS-M119.3 
Pruning CNNs for LiDAR-Based Perception in Resource Constrained Environments (I)

Vemparala, Manoj RohitBMW AG
Singh, AnmolBMW AG
Mzid, AhmedBMW AG
Fasfous, NaelTechnical University of Munich
Frickenstein, AlexanderBMW AG
Mirus, FlorianBMW AG
Voegel, Hans JoergBMW AG
Nagaraja, Naveen ShankarBMW Group
Stechele, WalterTechnical University of Munich (TUM)
 
08:00-11:00, Paper WS-M119.4 
Machine Learning Based 3D Object Detection for Navigation in Unstructured Environments (I)

Nikolovski, GjorgjiUniversity of Applied Science Aachen
Reke, MichaelFH Aachen
Ingo Elsen, IngoFH Aachen University of Applied Sciences
Schiffer, StefanFH Aachen University of Applied Sciences
 
08:00-11:00, Paper WS-M119.5 
CFTrack: Center-Based Radar and Camera Fusion for 3D Multi Object Tracking (I)

Nabati, RaminUniversity of Tennessee Knoxville
Harris, LandonUniversity of Tennessee
Qi, HairongUniversity of Tennessee, Knoxville
 
WS-M102 VirtualRoom
Data Driven Intelligent Vehicle Applications (DDIVA) Workshop
 
08:00-11:00, Paper WS-M102.1 
Self-Supervised Representation Learning for Content Based Image Retrieval of Complex Scenes (I)

Govindarajan, HariprasathLinköping University, Arriver Sweden AB
Lindskog, PeterVeoneer Sweden AB
Lundström, DennisVeoneer
Olmin, AmandaLinköping University
Roll, JacobVeoneer Sverige AB
Lindsten, FredrikLinköping University
 
WS-M120 VirtualRoom
From Benchmarking Behavior Prediction to Socially Compatible Behavior
Generation in Autonomous Driving
Workshop
 
08:00-11:00, Paper WS-M120.1 
Quantitative Evaluation of Autonomous Driving in CARLA (I)

Gao, ShangOak Ridge National Laboratory
Paulissen, SpencerOak Ridge National Laboratory
Coletti, MarkOak Ridge National Laboratory
Patton, RobertOak Ridge National Laboratory
 
08:00-11:00, Paper WS-M120.2 
POMDP Planning at Roundabouts (I)

Bey, HenrikFriedrich-Alexander-Universität Erlangen-Nürnberg
Sackmann, MoritzFriedrich-Alexander-Universität Erlangen-Nürnberg
Lange, AlexanderAUDI AG
Thielecke, JörnFriedrich-Alexander-Universität Erlangen-Nürnberg
 
08:00-11:00, Paper WS-M120.3 
Probabilistic VRU Trajectory Forecasting for Model-Predictive Planning -- a Case Study: Overtaking Cyclists (I)

Schneegans, JanUniversity of Kassel
Eilbrecht, JanUniversity of Kassel
Zernetsch, StefanUniversity of Applied Sciences Aschaffenburg
Bieshaar, MaartenUniversity of Kassel
Doll, KonradUniversity of Applied Sciences Aschaffenburg
Stursberg, OlafUniversity of Kassel
Sick, BernhardUniversity of Kassel
 
WS-M121 VirtualRoom
In-Cabin Human-Sensing and Interaction in Intelligent Vehicles (HSIV) Workshop
 
08:00-11:00, Paper WS-M121.1 
EEG-Based System Using Deep Learning and Attention Mechanism for Driver Drowsiness Detection (I)

Zhu, MiankuanSouthwest Jiaotong University
Li, HaoboSouthwest Jiaotong University
Chen, JiangfanSouthwest Jiaotong University
Kamezaki, MitsuhiroWaseda University
Zhang, ZutaoSouthwest Jiaotong University
Hua, ZexiSouthwest Jiaotong University
Sugano, ShigekiWaseda University
 
WS-M103 VirtualRoom
8th Workshop on Naturalistic Driving Data Analytics Workshop
 
WS-M104 VirtualRoom
IV Workshop on Explainable AI for AD Workshop
 
08:00-11:00, Paper WS-M104.1 
Driving Behavior Aware Caption Generation for Egocentric Driving Videos Using In-Vehicle Sensors (I)

Zhang, HongkuanNagoya University
Takeda, KoichiNagoya University
Sasano, RyoheiNagoya University
Adachi, YusukeNagoya University
Ohtani, KentoNagoya University
 
WS-M105 VirtualRoom
Multi-Sensor Fusion and Extended Object Tracking Workshop
 
08:00-11:00, Paper WS-M105.1 
Kalman Filter Based Extended Object Tracking with a Gaussian Mixture Spatial Distribution Model (I)

Thormann, KoljaUniversity of Goettingen
Yang, ShishanUniversity of Göttingen
Baum, MarcusUniversity of Göttingen
 
08:00-11:00, Paper WS-M105.2 
Improving Object Distance Estimation in Automated Driving Systems Using Camera Images, LiDAR Point Clouds and Hierarchical Clustering (I)

Tamayo, William CabreraUniversité De Sherbrooke
Chelbi, Nacer EddineUniversité De Sherbrooke
Gingras, DenisUniversité De Sherbrooke
Faulconnier, FrédéricVolvo Group Canada Inc., Nova Bus Division
 
WS-M106 VirtualRoom
Autoware – ROS-Based OSS for Autonomous Driving Workshop
 
08:00-11:00, Paper WS-M106.1 
Identification of Vehicle Dynamics Parameters Using Simulation-Based Inference* (I)

Boyali, AliTier4
Thompson, SimonTier IV
Wong, DavidNagoya Univeristy
 
08:00-11:00, Paper WS-M106.2 
OpenPlanner 2.0: The Portable Open Source Planner for Autonomous Driving Applications (I)

Darweesh, HatemNagoya University
Takeuchi, EijiroNagoya University
Takeda, KazuyaNagoya University
 
08:00-11:00, Paper WS-M106.3 
Eagleye: A Lane-Level Localization Using Low-Cost GNSS/IMU (I)

Takanose, AokiNagoya University
Kitsukawa, YukiTierIV Inc
Meguro, JunichiMeijo University
Takeuchi, EijiroNagoya University
Carballo, AlexanderNagoya University
Takeda, KazuyaNagoya University
 
08:00-11:00, Paper WS-M106.4 
Characterization of Multiple 3D LiDARs for Localization and Mapping Performance Using the NDT Algorithm (I)

Carballo, AlexanderNagoya University
Monrroy Cano, Abraham IsraelNagoya University
Wong, David RobertTier IV, Inc
Narksri, PatiphonNagoya University
Lambert, JacobNagoya University
Kitsukawa, YukiTierIV Inc
Takeuchi, EijiroNagoya University
Kato, ShinpeiThe University of Tokyo
Takeda, KazuyaNagoya University
 
WS-M107 VirtualRoom
BROAD Workshop: Where to from Here? Societal and Algorithmic Challenges for
Autonomous Driving
Workshop
 
08:00-11:00, Paper WS-M107.1 
Auction Based Parking Lot Assignment and Empty Cruising Limitation of Privately Owned Autonomous Vehicles in a Simple City Model (I)

Alekszejenkó, LeventeBudapest University of Technology and Economics
Dobrowiecki, TadeuszBudapest University of Technology and Economics
 
WS-M108 VirtualRoom
5th Workshop on Cooperative and Automated Driving Workshop
 
08:00-11:00, Paper WS-M108.1 
Trajectory Planning with Comfort and Safety in Dynamic Traffic Scenarios for Autonomous Driving (I)

Zhang, JiahuiXi'an Jiaotong University
Jian, ZhiqiangXi'an Jiaotong University
Fu, JiaweiInstitute of Artificial Intelligence and Robotics
Nan, ZhixiongXi'an Jiaotong University
Xin, JingminXi'an Jiaotong University
Zheng, NanningXi'an Jiaotong University
 
WS-M109 VirtualRoom
Workshop on Autonomy at Scale Workshop
 
08:00-11:00, Paper WS-M109.1 
A Survey on Deep Domain Adaptation for LiDAR Perception (I)

Triess, Larissa TaminaMercedes-Benz AG
Dreissig, MariellaMercedes-Benz AG, University of Freiburg
Rist, Christoph BerndMercedes-Benz AG
Zöllner, J. MariusFZI Research Center for Information Technology; KIT Karlsruhe In
 
08:00-11:00, Paper WS-M109.2 
Investigating Value of Curriculum Reinforcement Learning in Autonomous Driving under Diverse Road and Weather Conditions (I)

Gunel, Mustafa BurakIstanbul Technical University
Ozturk, AnilIstanbul Technical University
Dagdanov, ResulIstanbul Technical University
Vural, Mirac EkimIstanbul Technical University
Yurdakul, FerhatIstanbul Technical University
Dal, MelihBogazici University
Ure, NazimIstanbul Technical University
 
08:00-11:00, Paper WS-M109.3 
Combining Semantic Self-Supervision and Self-Training for Domain Adaptation in Semantic Segmentation (I)

Niemeijer, JoshuaGerman Aerospace Center (DLR)
Schäfer, Jörg PeterGerman Aerospace Center (DLR)
 
08:00-11:00, Paper WS-M109.4 
Practical Object Detection Using Thermal Infrared Image Sensors (I)

Baek, IljooCarnegie Mellon University
Chen, WeiCarnegie Mellon University
Gumparthi Venkat, Asish ChakrapaniCarnegie Mellon University
Rajkumar, RagunathanCarnegie Mellon University

 
 

 
 

 

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