Yanlei Gu - Publications

Journal

Ryosuke Kawata, Joonho Lee, Yanlei Gu, Shunsuke Kamijo, “Adaptive Multiple-Attribute Scenario LoRA Merge for Robust Perception in Autonomous Driving”, Vol. Sensors 26, No. 4, 1336, 2026.
Jinze Liu, Ye Tian, Yanlei Gu, Shunsuke Kamijo, “KOM-SLAM: A GNN-Based Tightly Coupled SLAM and Multi-Object Tracking Framework”, Sensors, Vol. 26, No. 1, 128, 2026.
JiangDong Miao, Bisser Raytchev, Takuji Nakashima, Takenori Hiraoka, Keigo Shimizu, Yanlei Gu, Toru Higaki, “Reference-Free Evaluation Metric for Fine-Grained 3D Shape Editing”, Applied Sciences, Vol. 15, No. 24, 13023, 2025.
Minghao Xu, Yanlei Gu, Igor Goncharenko, Shunsuke Kamijo, “LiGenCam: Reconstruction of Color Camera Images from Multimodal LiDAR Data for Autonomous Driving”, Sensors, 2025, Vol. 25, No. 14, 4295, 2025.
Zuoyuan Zhao, Toru Higaki, Yanlei Gu, Bisser Raytchev, “The ASC Module: A GPU Memory-Efficient, Physiology-Aware Approach for Improving Segmentation Accuracy on Poorly Contrast-Enhanced CT Scans—A Preliminary Study”, Bioengineering, Vol. 12, No. 9, 974, 2025.
Ye Tian, Yanlei Gu, Qianwen Lu, Shunsuke Kamijo, “Customer Context Analysis in Shopping Malls: A Method Combining Semantic Behavior and Indoor Positioning Using a Smartphone”, Sensors, Vol. 25, 649, 2025.
Hiu-Yi Ho, Hoi-Fung Ng, Weisong Wen, Yanlei Gu, Li-Ta Hsu, “Enhancing Smartphone-based Pedestrian Positioning: Using Factor Graph Optimization with Indoor/Outdoor Detection for 3DMA GNSS/Visual-inertial State Estimation”, Journal of Data Science and Intelligent Systems, pp. 1–17, 2024.
Hyoungwon Chang, Yanlei Gu, Igor Goncharenko, Li-Ta Hsu, Chinthaka Premachandra, “Cyclist Orientation Estimation Using LiDAR Data”, Sensors, Vol. 23, No. 6, pp. 1-15, 2023.
Arief D. Abadi, Yanlei Gu, Igor Goncharenko, Shunsuke Kamijo, “Detection of Cyclist’s Crossing Intention based on Posture Estimation for Autonomous Driving”, IEEE Sensors Journal, early access, 2023.
Yuki Endo, Ehsan Javanmardi, Yanlei Gu, Shunsuke Kamijo, “High Definition Map Aided Object Detection for Autonomous Driving in Urban Areas”, International Journal of Automotive Technology, Vol. 24, pp. 469–481, 2023.
Jayani Withanawasam, Ehsan Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Modeling Required Driver Attention Level Based on Environmental Risk Factors Using Deep Convolutional Neural Networks”, The International Journal of Automotive Engineering, Vol. 12, No. 4, pp. 125-133, 2021.
Woranipit Chidsin,Yanlei Gu, Igor Goncharenko, “AR-Based Navigation Using RGB-D Camera and Hybrid Map”, Sustainability, Vol. 13, No. 10, pp. 1-17, 2021.
Jason Nataprawira,Yanlei Gu, Igor Goncharenko, Shunsuke Kamijo, “Pedestrian Detection Using Multispectral Images and a Deep Neural Network”, Sensors, Vol. 21, No. 1, pp. 1-17, 2021.
Kelvin Wong, Yanlei Gu, Shunsuke Kamijo, “Mapping for Autonomous Driving: Opportunities and Challenges”, IEEE Intelligent Transportation Systems Magazine, Vol. 13, No. 1, pp. 91-106, 2021.
Ehsan Javanmardi, Mahdi Javanmardi, Yanlei Gu, Shunsuke Kamijo. “Pre-Estimating Self-Localization Error of NDT-Based Map-Matching from Map Only”, IEEE Transactions on Intelligent Transportation Systems, Vol. 22, No. 12, pp. 7652-7666, 2020.
Yanlei Gu, Takuya Shibukawa, Yohei Kondo, Shintaro Nagao, Shunsuke Kamijo, “Prediction of Stock Performance Using Deep Neural Networks”, Applied Sciences, Vol.10, No. 22, pp.1-20, 2020.
Yanlei Gu, Huiyang Zhang, Shunsuke Kamijo, “Multi-Person Pose Estimation using an Orientation and Occlusion Aware Deep Learning Network”, Sensors, Vol. 20, No. 6, pp. 1-21, 2020.
Yanlei Gu, Dailin Li, Yoshihiko Kamiya, Shunsuke Kamijo, “Integration of Positioning and Activity Context Information for Lifelog in Urban City Area”, Navigation, Vol. 67, No. 1, pp. 163-179, 2020.
Yanlei Gu, Qianlong Wang, Shunsuke Kamijo, “Intelligent Driving Data Recorder in Smartphone Using Deep Neural Network-Based Speedometer and Scene Understanding”, IEEE Sensors Journal, Vol. 19, No. 1, pp. 287-296, 2019.
Ehsan Javanmardi, Yanlei Gu, Mahdi Javanmardi, Shunsuke Kamijo, “Autonomous Vehicle Self-localization based on Abstract Map and Multi-Channel LiDAR in Urban Area”, IATSS Research, Vol. 43, No. 1, pp. 1-13, 2019.
Ehsan Javanmardi, Mahdi Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Factors to Evaluate Capability of Map for Vehicle Localization”, IEEE Access, Vol. 6, pp. 49850-49867, 2018.
Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “Towards Lane-level Traffic Monitoring in Urban Environment using Precise Probe Vehicle Data Derived from Three-Dimensional Map aided Differential GNSS”, IATSS Research, Vol. 42, No. 4, pp. 1-11, 2018.
Jiali Bao, Yanlei Gu, Shunsuke Kamijo, “Vehicle Localization System in Urban Scenario with Three-Dimensional City Map”, International Journal of Automotive Engineering, Vol. 9, No. 2, pp. 79-85, 2018.
Yuyang Huang, Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo, “GNSS Correction Using Altitude Map and Its Integration with Pedestrian Dead Reckoning”, IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, Vol. 101, No. 8, pp. 1245-1256, 2018.
Jingwen Liu, Yanlei Gu, Shunsuke Kamijo, “Integral Customer Pose Estimation Using Body Orientation and Visibility Mask”, Multimedia Tools and Applications, Vol. 77, No. 19, pp. 26107-26134, 2018.
Jingwen Liu, Yanlei Gu, Shunsuke Kamijo, “Customer Pose Estimation Using Orientational Spatio-Temporal Network from Surveillance Camera”, Multimedia Systems, Vol. 24, No. 4, pp. 439-457, 2018.
Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “Vehicle Localization Based on Global Navigation Satellite System Aided by Three-Dimensional Map”, Transportation Research Record: Journal of the Transportation Research Board, No. 2621, pp. 55-61, 2017.
Mahdi Javanmardi, Ehsan Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Towards High-Definition 3D Urban Mapping: Road Feature-Based Registration of Mobile Mapping Systems and Aerial Imagery”, Remote Sensing, Vol. 9, No. 10, pp. 1-30, 2017.
Yanlei Gu, Yoriyoshi Hashimoto, Li-Ta Hsu, Miho Iryo-Asano, Shunsuke Kamijo, “Human-like Motion Planning Model for Driving in Signalized Intersections”, IATSS Research, Vol. 41, No. 3, pp129-139, 2017.
Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo, “Intelligent Viaduct Recognition and Driving Altitude Determination using GPS Data”, IEEE Transactions on Intelligent Vehicles, Vol. 2, No. 3, pp. 175-184, 2017.
Jingwen Liu, Yanlei Gu, Shunsuke Kamijo, “Customer Behavior Classification using Surveillance Camera for Marketing”, Multimedia Tools and Applications, Vol. 76, No. 5, pp. 6595-6622, 2017.
Li-Ta Hsu, Hiroko Tokura, Nobuaki Kubo, Yanlei Gu, Shunsuke Kamijo, “Multiple Faulty GNSS Measurement Exclusion based on Consistency Check in Urban Canyons”, IEEE Sensors Journal, Vol.17, No. 6, pp. 1909-1917, 2017.
Yutaro Wada, Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo, “Optimization of 3D Building Models by GPS Measurements”, GPS Solutions, Vol. 21, No. 1, pp.65-78, 2017.
Yoriyoshi Hashimoto, Yanlei Gu, Li-Ta Hsu, Miho Iryo-Asano, Shunsuke Kamijo, “A Probabilistic Model of Pedestrian Crossing Behavior at Signalized Intersections for Connected Vehicles”, Transportation Research Part C: Emerging Technologies, No. 71, pp. 164-181, 2016.
Yanlei Gu, Li-Ta Hsu, Jiali Bao, Shunsuke Kamijo, “Integrating Global Navigation Satellite System and Road Marking Detection for Vehicle Localization in Urban Traffic”, Transportation Research Record: Journal of the Transportation Research Board, No.2595, pp. 59-67, 2016.
Yuyang Huang, Li-Ta Hsu, Yanlei Gu, Haitao Wang, Shunsuke Kamijo, “Database Calibration for Outdoor Wi-Fi Positioning System”, IEICE Transections on Fundamentals of Electronics, Communications and Computer Sciences, Vol. E99.A, No. 9 pp. 1683-1690, 2016.
Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “GNSS/On-Board Inertial Sensor Integration with the Aid of 3D Building Map for Lane-Level Vehicle Self-Localization in Urban Canyon”, IEEE Transactions on Vehicular Technology, Vol. 65, No. 6, pp. 4274-4287, 2016.
Li-Ta Hsu, Yanlei Gu, and Shunsuke Kamijo, “3D Building Model based Pedestrian Positioning Method using GPS/GLONASS/QZSS and Its Reliability Calculation”, GPS Solutions, Vol. 20, No. 3, pp. 413-428, 2016.
Shinya Yano, Yanlei Gu, and Shunsuke Kamijo, “Estimation of Pedestrian Pose and Orientation Using On-Board Camera with Histograms of Oriented Gradients Feature”, International Journal of Intelligent Transportation Systems Research, Vol. 4, No. 2, pp. 75-84, 2016.
Yanlei Gu, Li-Ta Hsu, Lijia Xie, and Shunsuke Kamijo, “Accurate Estimation of Pedestrian Orientation from On-board Camera and Inertial Sensors”, IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, Vol.E99-A, No.1, pp.271-281, 2016.
Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “Passive Sensor Integration for Vehicle Self-Localization in Urban Traffic Environment”, Sensors, Vol. 15, No. 12, pp. 30199-30220, 2015.
Li-Ta Hsu, Yanlei Gu, Yuyang Huang, Shunsuke Kamijo, “Urban Pedestrian Navigation using Smartphone-based Dead Reckoning and 3D Maps Aided GNSS”, IEEE Sensors Journal, Vol. 16, No. 5, pp. 1281-1293, 2015.
Yanlei Gu, Shunsuke Kamijo, “Bicyclist Recognition and Orientation Estimation from On-board Vision System”, International Journal of Automotive Engineering, Vol. 6, No. 2, pp. 67-73, 2015.
Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo, “NLOS Correction/Exclusion for GNSS Measurement Using RAIM and City Building Models”, Sensors, Vol. 15, No. 7, pp. 17329-17349, 2015.
Shunsuke Kamijo, Yanlei Gu, Li-Ta Hsu, “Autonomous Vehicle Technologies: Localization and Mapping”, IEICE Fundamentals Review, IEICE, Vol.9, No.2, pp.131-141, 2015.
Yanlei Gu, Mehrdad Panahpour Tehrani, Tomohiro Yendo, Toshiaki Fujii, Masayuki Tanimoto, “Traffic Sign Recognition with Invariance to Lighting in Dual-Focal Active Camera System”, IEICE Transactions on Information and Systems, Vol. E95-D, No. 7, pp. 1775-1790, 2012.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, Masayuki Tanimoto, “Traffic Sign Recognition Using Hybrid Camera System”, The Journal of The Institute of Image Information and Television Engineers, Vol. 65, No. 7, pp. 967-975, 2011.

International Conference

Yuka Hara, Yanlei Gu, Toru Higaki, Bisser Raytchev, Kazufumi Kaneda, “Prediction of Pedestrian Crossing Intentions Using Wearable Smart Glasses”, 2025 IEEE 14th Global Conference on Consumer Electronics (GCCE2025), Osaka, Japan, September 23-26, 2025.
Aina Hiratana, Yanlei Gu, Toru Higaki, Bisser Raytchev, Kazufumi Kaneda, “Pedestrian Head Orientation Estimation Using Smartphone Cameras”, 2025 IEEE 14th Global Conference on Consumer Electronics (GCCE2025), Nara, Japan, September 23-26, 2025.
Son Nguyen Trong, Yanlei Gu, Igor Goncharenko, “Indoor Positioning Using Smartphone Sensors: A LIDAR and IMU-Based Approach”, 2025 IEEE International Conference on Industry 4.0, Artificial Intelligence, and Communications Technology (IAICT), Bali, Indonesia, 03-05 July, 2025.
Yanlei Gu, Yun Song, Igor Goncharenko, “Cyclist Intention Estimation at Signalized Intersections Using Deep Neural Networks”, 2023 IEEE 12th Global Conference on Consumer Electronics (GCCE2023), Nara, Japan, October 9-13, 2023.
Woranipit Chidsin, Yanlei Gu, Igor Goncharenko, “Smartphone-Based Positioning Using Graph Map for Indoor Environment”, 2023 IEEE 12th Global Conference on Consumer Electronics (GCCE2023), Nara, Japan, October 9-13, 2023.
Maki Kato, Igor Goncharenko, Yanlei Gu, “Investigation of Posture Similarity Metrics for Online Dance Learning Support”, IEEE 2023 International Conference on Consumer Electronics - Taiwan (ICCE-TW2023), Pingtung, Taiwan, July 17-19, 2023.
Hyeonsoo Yoo, Igor Goncharenko, Yanlei Gu, “Real-Time Dynamic Sign Language Recognition Using LSTM Based on MediaPipe Hand Data”, IEEE 2023 International Conference on Consumer Electronics - Taiwan (ICCE-TW2023), Pingtung, Taiwan, July 17-19, 2023.
Ignasius Ian Savio Gunawan, Yanlei Gu, Igor Goncharenko, Shunsuke Kamijo, “Cyclist Speed Estimation Using Accelerometer, Gyroscope, and Monocular Camera”, 2023 IEEE International Conference on Consumer Electronics (ICCE2023), Las Vegas, NV, USA, January 6-8, 2023.
Seokki Lee, Yanlei Gu, Igor Goncharenko, Shunsuke Kamijo, “Pedestrian Orientation Estimation based on Super Resolution of LiDAR Data”, 2023 IEEE International Conference on Consumer Electronics (ICCE2023), Las Vegas, NV, USA, January 6-8, 2023.
Yun Song, Yanlei Gu, Igor Goncharenko, “Context-based Prediction for Crossing Intentions of Cyclists at Signalized Intersections”, 2022 IEEE Global Conference on Consumer Electronics (GCCE2022), Osaka, Japan, October 18-21, 2022.
Yanlei Gu, Yejin Song, Igor Goncharenko, Shunsuke Kamijo, “Driver Hand Activity Recognition using NIR Camera and Deep Neural Network”, 2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech2022), Osaka, Japan, March 7-9, 2022.
Ignasius Ian Savio Gunawan, Yanlei Gu, Igor Goncharenko, Shunsuke Kamijo, “Cyclist Speed Estimation Using Accelerometer and Gyroscope in Smartphones”, 2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech2022), Osaka, Japan, March 7-9, 2022.
Arata Maruhashi, Igor Goncharenko, Yanlei Gu, “Posture Corrector: Incorrect Posture and Repetition Identifier using OpenPose and Deep Neural Network”, 2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech2022), Osaka, Japan, March 7-9, 2022.
Sara Hayakawa, Igor Goncharenko, Yanlei Gu, “Air Writing in Japanese: A CNN-based character recognition system using hand tracking”, 2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech2022), Osaka, Japan, March 7-9, 2022.
Ahmed Al Dahmani, Igor Goncharenko, Yanlei Gu, “E-Worker Mental Fatigue Detection Through Mindwave EEG Data and Deep Neural Networks”, 2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech2022), Osaka, Japan, March 7-9, 2022.
Ivan Wanjaya, Igor Goncharenko, Yanlei Gu, “Comparison of Image-Based and Skeleton-Based ML Methods in the Task of Alphabetical Sign Language Recognition”, 2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech2022), Osaka, Japan, March 7-9, 2022.
Arief Dharmawan Abadi, Yanlei Gu, Igor Goncharenko, Shunsuke Kamijo, “Detection of Cyclists' Crossing Intentions for Autonomous Vehicles”, 2022 IEEE International Conference on Consumer Electronics (ICCE2022), Virtual, January 7-9, 2022.
Yuki Endo, Ehsan Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Evaluation of High Definition Map-Based Self-Localization Against Occlusions in Urban Area”, 2021 IEEE Intelligent Vehicles Symposium (IV2021), Nagoya, Japan, July 11-17, 2021.
Ignasius Ian Savio Gunawan, Ivan Wanjaya, Igor Goncharenko, Yanlei Gu, "Sign Language Recognition by Machine Learning Using Multimodal Wearable Sensors and RGB Imagery Data", 6th International Workshop on Innovations in Information and Communication Science and Technology (IICST2021), Tomsk, Russia, November 1-2, 2021.
Yanlei Gu, Woranipit Chidsin, Igor Goncharenko, “AR-based Navigation Using Hybrid Map”, 2021 IEEE 3rd Global Conference on Life Sciences and Technologies (LifeTech2021), Nara, Japan, March 9-11, 2021.
Jason Nataprawira, Yanlei Gu, Igor Goncharenko, Shunsuke Kamijo, “Pedestrian Detection on Multispectral Images in Different Lighting Conditions”, 2021 IEEE International Conference on Consumer Electronics (ICCE2021), Virtual, January 10-12, 2021.
Hyeonsoo Yoo, Igor Goncharenko, Yanlei Gu, “Does Caffeine Cause Effect on Short-Term Memory?”, 5th International Workshop on Innovations in Information and Communication Science and Technology (IICST2020), Malang, Indonesia, March 2020.
Jason Nataprawira, Yanlei Gu, Koki Asami, Igor Goncharenko, “Pedestrian Detection in Different Lighting Conditions Using Deep Neural Networks”, 5th International Workshop on Innovations in Information and Communication Science and Technology (IICST2020), Malang, Indonesia, March 2020.
Kelvin Wong, Ehsan Javanmardi, Mahdi Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Evaluating the Capability of OpenStreetMap for Estimating Vehicle Localization Error”, 2019 IEEE Intelligent Transportation Systems Conference (ITSC2019), Auckland, New Zealand, October 27-30, 2019.
Yanlei Gu, Dailin Li, Yoshihiko Kamiya, Shunsuke Kamijo, “Lifelog using Mobility Context Information in Urban City Area”, ION 2019 Pacific PNT Meeting, Honolulu, Hawaii, USA, April 8-11, 2019.
Yoshihiko Kamiya, Yanlei Gu, Shunsuke Kamijo, “Indoor Positioning in Large Shopping Mall with Context based Map Matching”, 2019 IEEE International Conference on Consumer Electronics (ICCE2019), Las Vegas, USA, January 11-13, 2019.
Huiyang Zhang, Yanlei Gu, Shunsuke Kamijo, “Orientation and Occlusion Aware Multi-Person Pose Estimation using Multi-Task Deep Learning Network”, 2019 IEEE International Conference on Consumer Electronics (ICCE2019), Las Vegas, USA, January 11-13, 2019.
Xiao Wang, Jinqiang Wu, Yanlei Gu, Hongbin Sun, Linhai Xu, Shunsuke Kamijo, Nanning Zheng, “Human-Like Maneuver Decision Using LSTM-CRF Model for On-Road Self-Driving”, 21st International Conference on Intelligent Transportation Systems (ITSC2018), Maui, HI, USA, November 4-7, 2018.
Ehsan Javanmardi, Mahdi Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Adaptive Resolution Refinement of NDT Map Based on Localization Error Modeled by Map Factors”, 21st International Conference on Intelligent Transportation Systems (ITSC2018), Maui, HI, USA, November 4-7, 2018.
Ehsan Javanmardi, Mahdi Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Evaluation of Digital Map Ability for Vehicle Self-Localization”, 2018 IEEE Intelligent Vehicles Symposium (IV2018), Changshu, China, June 26-30, 2018.
Dailin Li, Yanlei Gu, Shunsuke Kamijo, “Smartphone Based Lifelog with Meaningful Place Detection”, 2018 IEEE International Conference on Consumer Electronics (ICCE2018), Las Vegas, USA, January 12-14, 2018.
Qianlong Wang, Yongjie Liu, Jingwen Liu, Yanlei Gu, Shunsuke Kamijo, “Critical Areas Detection and Vehicle Speed Estimation System Towards Intersection-Related Driving Behavior Analysis”, 2018 IEEE International Conference on Consumer Electronics (ICCE2018), Las Vegas, USA, January 12-14, 2018.
Yongjie Liu, Qianlong Wang, Yanlei Gu, Shunsuke Kamijo, “A Latent Space Understandable Generative Adversarial Network: SelfExGAN”, 2017 International Conference on Digital Image Computing: Techniques and Applications (DICTA2017), Sydney, Australia, Nov. 29-Dec.1 2017.
Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “Acquisition of Precise Probe Vehicle Data in Urban City Based on Three-Dimensional Map Aided GNSS”, IEEE 20th International Conference on Intelligent Transportation Systems (ITSC2017), Yokohama, Japan, October 16-19, 2017.
Dailin Li, Yanlei Gu, Shunsuke Kamijo, “Pedestrian Positioning in Urban Environment by Integration of PDR and Traffic Mode Detection”, IEEE 20th International Conference on Intelligent Transportation Systems (ITSC2017), Yokohama, Japan, October 16-19, 2017.
Lijia Xie, Yanlei Gu, Shunsuke Kamijo, “Lane-Level Vehicle Self-Localization in Under-Bridge Environments Based on Multi-Level Sensor Fusion”, IEEE 20th International Conference on Intelligent Transportation Systems (ITSC2017), Yokohama, Japan, October 16-19, 2017.
Mahdi Javanmardi, Ehsan Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Precise Mobile Laser Scanning for Urban Mapping Utilizing 3D Aerial Surveillance Data”, IEEE 20th International Conference on Intelligent Transportation Systems (ITSC2017), Yokohama, Japan, October 16-19, 2017.
Ehsan Javanmardi, Mahdi Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Autonomous Vehicle Self-Localization Based on Probabilistic Planar Surface Map and Multi-channel LiDAR in Urban Area”, IEEE 20th International Conference on Intelligent Transportation Systems (ITSC2017), Yokohama, Japan, October 16-19, 2017.
Qianlong Wang, Yanlei Gu, Jingwen Liu, Shunsuke Kamijo, “DeepSpeedometer: Vehicle Speed Estimation from Accelerometer and Gyroscope Using LSTM Model”, IEEE 20th International Conference on Intelligent Transportation Systems (ITSC2017), Yokohama, Japan, October 16-19, 2017.
Jiali Bao, Yanlei Gu, Shunsuke Kamijo, “Vehicle positioning with the integration of scene understanding and 3D map in urban environment”, IEEE Intelligent Vehicles Symposium (IV2017), Redondo Beach, California USA, June 11-14, 2017.
Mahdi Javanmardi, Ehsan Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Automatic Calibration of 3D Mobile Laser Scanning using Aerial Surveillance Data for Precise Urban Mapping”, IEEE Intelligent Vehicles Symposium (IV2017), Redondo Beach, California USA, June 11-14, 2017.
Ehsan Javanmardi, Mahdi Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Autonomous Vehicle Self-Localization Based on Multilayer 2D Vector Map and Multi-channel LiDAR”, IEEE Intelligent Vehicles Symposium (IV 2017), Redondo Beach, California USA, June 11-14, 2017.
Prarthana Bhattacharyya, Yanlei Gu, Jiali Bao, Liu Xu, Shunsuke Kamijo, “3D Scene Understanding at Urban Intersection using Stereo Vision and Digital Map”, IEEE Vehicular Technology Conference (VTS2017), Sydney Australia, June 4-7, 2017.
Haitao Wang, Yanlei Gu, Shunsuke Kamijo, “Pedestrian Positioning in Urban City with the Aid of Google Maps Street View”, 15th IAPR International Conference on MVA2017 (MVA2017), Nagoya, Japan, May 5-8, 2017.
Prarthana Bhattacharyya, Yanlei Gu, Jiali Bao, Shunsuke Kamijo, “Acculate Localization and Motion Planning for Autonomous Driving at Urban Intersections”, ION Pacific PNT Conference 2017 (PNT2017), Honolulu Hawai, USA, May 1-4, 2017.
Yanlei Gu, Shunsuke Kamijo, “GNSS Positioning in Deep Urban City with 3D Map and Double Reflection”, IEEE European Navigation Conference (ENC2017), Geneva Switzland, May 9-12, 2017.
Yanlei Gu, Shunsuke Kamijo, “Vehicle Localization based on Three-Dimensional Map Aided Global Navigation Satellite System”, Transportation Research Board 96th Annual Meeting (TRB2017), Washington, D.C., United States, January 10-14, 2017.
Mahdi Javanmardi, Ehsan Javanmardi, Yanlei Gu, Shunsuke Kamijo, “A Novel Approach for Post-Calibration of Mobile Mapping Systems Using Intensity Reflection and Airborne Imagery”, Transportation Research Board 96th Annual Meeting (TRB 2017), Washington, D.C., United States, January 10-14, 2017.
Jingwen Liu, Yanlei Gu, Shunsuke Kamijo. “Joint Customer Pose and Orientation Estimation using Deep Neural Network from Surveillance Camera”, IEEE International Symposium on Multimedia (ISM2016), San Jose, California, USA, December 11-13, 2016.
Yanlei Gu, Yoriyoshi Hashimoto, Li-Ta Hsu, Shunsuke Kamijo, “Motion Planning based on Learning Models of Pedestrian and Driver Behaviors”, IEEE 19th International Conference on Intelligent Transportation Systems (ITSC2016), Rio de Janeiro, Brazil, November 1-4, 2016.
Jiali Bao, Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “Vehicle self-localization using 3D building map and stereo camera,” IEEE Intelligent Vehicles Symposium (IV2016), Gothenburg, Sweden, June 19-22, 2016.
Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo. “Autonomous driving positioning using building model and DGNSS”, IEEE European Navigation Conference (ENC2016), Helsinki, Finland, May 30-June 2, 2016.
Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo, “Sensor integration of 3D map aided GNSS and smartphone PDR in urban canyon with dense foliage”, IEEE/ION PLANS 2016, Savannah, Georgia, April 11-14, 2016.
Yanlei Gu, Yutaro Wada, Li-Ta Hsu, Shunsuke Kamijo, “SLAM with 3Dimensional-GNSS”, IEEE/ION PLANS 2016, Savannah, Georgia, April 11-14, 2016.
Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “Integration of 3D-Map-GNSS and Vision-Based Road Marking Detection for Vehicle Localization in Urban Traffic Environment”, Transportation Research Board 95th Annual Meeting (TRB 2016), Washington, D.C., United States, January 10-14, 2016.
Jingwen Liu, Yanlei Gu, Shunsuke Kamijo, “Customer Behavior Recognition in Retail Store from Surveillance Camera”, IEEE International Symposium on Multimedia (ISM2015), Miami, Florida, USA, December 14-16, 2015.
Yuyang Huang, Li-Ta Hsu, Yanlei Gu, Haitao Wang, Shunsuke Kamijo, “Assessment of Outdoor Wi-Fi Fingerprint Calibration using Different GNSS Approaches”, International Symposium on GNSS 2015, Kyoto, Japan, November 16-19, 2015.
Yutaro Wada, Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo, “Correction of Building Footprint for 3D City Models using GPS NLOS Measurement”, International Symposium on GNSS 2015, Kyoto, Japan. November 16-19, 2015.
Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “Correction of Vehicle Positioning Error Using 3D-Map-GNSS and Vision-based Road Marking Detection”, IEEE International Conference on Vehicular Electronics and Safety 2015 (ICVES2015), Yokohama, Japan, November 5-7, 2015.
Mahdi Javanmardi, Yanlei Gu, Ehsan Javanmardi, Li-Ta Hsu, Shunsuke Kamijo, “3D Building Map Reconstruction in Dense Urban Areas by Integrating Airborne Laser Point Cloud with 2D Boundary map”, IEEE International Conference on Vehicular Electronics and Safety 2015 (ICVES2015), Yokohama, Japan, November 5-7, 2015.
Yoriyoshi Hashimoto, Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “Probability Estimation for Pedestrian Crossing Intention at Signalized Crosswalks”, IEEE International Conference on Vehicular Electronics and Safety 2015 (ICVES2015), Yokohama, Japan, November 5-7, 2015.
Li-Ta Hsu, Yutaro Wada, Yanlei Gu, Shunsuke Kamijo, “Rectification of 3D Building Models Based on GPS Signal Collected by Vehicle”, IEEE International Conference on Vehicular Electronics and Safety 2015 (ICVES2015), Yokohama, Japan, November 5-7, 2015.
Shunsuke Kamijo, Yanlei Gu, Li-Ta Hsu, “GNSS/INS/On-Board Camera Integration for Vehicle Self-Localization in Urban Canyon”, IEEE 18th International Conference on Intelligent Transportation Systems (ITSC2015), Canary Islands, Spain, September 15-18, 2015.
Yoriyoshi Hashimoto, Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “A Probabilistic Model for the Estimation of Pedestrian Crossing Behavior at Signalized Intersections”, IEEE 18th International Conference on Intelligent Transportation Systems (ITSC2015), Canary Islands, Spain, September 15-18, 2015.
Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo, “Pedestrian Localization Service using 3D Map and RAIM GNSS Satellite Selection Technique”, IEEE 18th International Conference on Intelligent Transportation Systems (ITSC2015), Canary Islands, Spain, September 15-18, 2015.
Yanlei Gu, Li-Ta Hsu, Yutaro Wada, Shunsuke Kamijo, “Integration of 3D Map based GPS Positioning and On-Board Sensors for Vehicle Self-Localization in Urban Canyon”, ION 2015 Pacific PNT Meeting (PNT2015), Honolulu, Hawaii, April 20-23, 2015.
Li-Ta Hsu, Yutaro Wada, Yanlei Gu, Shunsuke Kamijo, “A Study of City Building Model Based Positioning Method using Multi-GNSS in Deep Urban Canyon”, IEEE European Navigation Conference 2015 (ENC2015), Bordeaux, France, April 7-10, 2015.
Yanlei Gu, Yutaro Wada, Lita Hsu, Shunsuke Kamijo, “Vehicle Self-localization in Urban Canyon Using 3D Map based GPS Positioning and Vehicle Sensors”, The 3rd International Conference on Connected Vehicles & Expo (ICCVE 2014), Vienna, Austria, November 3-7, 2014.
Yanlei Gu, Shunsuke Kamijo, “Recognition and Pose Estimation of Urban Road Users from On-board Camera for Collision Avoidance”, IEEE 17th International Conference on Intelligent Transportations Systems (ITSC2014), Qingdao, October 8-11, 2014.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, and Masayuki Tanimoto, “Traffic Sign Detection in Dual-Focal Active Camera System”, IEEE Intelligent Vehicles Symposium (IV2011), Baden-Baden, Germany, June 5-9, 2011.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, and Masayuki Tanimoto, “Traffic Sign Detection Based on Shape and Color”, Workshop on Picture Coding and Image Processing 2010, Nagoya, Japan, December 7-10, 2010.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, and Masayuki Tanimoto, “A New Vision System for Traffic Sign Recognition”, IEEE Intelligent Vehicles Symposium 2010 (IV2010), San Diego, USA, June 21-24, 2010.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, and Masayuki Tanimoto, “A New Method for Traffic Sign Recognition Using Hybrid Camera System”, International Workshop on Advanced Image Technology 2010, Kuala Lumpur, Malaysia, January 11-12, 2010.

Domestic Conference

Yibin Chen, Yanlei Gu, Shunsuke Kamijo, “CAGE: Controllable Agent Generation in Driving Scenes via Vision-Language Models”, IEICE Technical Report, vol. 125, no. 183, ITS2025-6, pp.1-6, September, 2025.
Zhicheng Zhang, Bisser Raytchev, Yanlei Gu, Ryosuke Shigenaka, Yusuke Sori, Kosei Sato, Higaki Toru, “Improving Depth Estimation by Using Overlap Area Information”, MIRU2025, September, 2025.
Yue Zhang, Ehsan Javanmardi, Mahdi Javanmardi, Yanlei Gu, Shunsuke Kamijo, “Towards ADAS Map: Automatic Extraction and Integration of Semantic Traffic Regulation from MMS Data”, IEICE Technical Report, vol. 118, no. 79, ITS2018-2, pp.7-12, June, 2018.
Yue Zhang, Ehsan Javanmardi, Mahdi Javanmardi, Yanlei Gu, Shunsuke Kamijo, "Towards ADAS Map: Automatic Extraction and Integration of Semantic Traffic Regulation from MMS Data", IEICE Technical Report, vol. 118, no. 79, PRMU, pp.45-52, December, 2017.
Prarthana Bhattacharyya, Yanlei Gu, Jiali Bao, Shunsuke Kamijo, “3D Scene Understanding at Urban Intersections for Autonomous Vehicles”, IEICE Technical Report, vol. 116, no. 338, ITS2016-34, pp.125-130, December, 2016.
Haitao Wang, Yanlei Gu, Shunsuke Kamijo, “Pedestrian Positioning with the aid of Google Earth and Google Maps Street View”, IEICE Technical Report, vol. 116, no. 338, ITS2016-34, pp.113-118, December, 2016.
Lijia Xie, Yanlei Gu, Shunsuke Kamijo, “Lane-level Vehicle Self-localization by Integrating Inertial Sensors and Stereo Camera for Under-bridge Scenario”, IEICE Technical Report, vol. 116, no. 338, ITS2016-15, pp.1-6, December, 2016.
Jingwen Liu, Yanlei Gu, and Shunsuke Kamijo, “Orientation based Customer Pose Estimation from Surveillance Camera”, Pattern Recognition and Media Understanding (PRMU), Tokyo, Japan, March 24-25, 2016.
Yuyang Huang, Li-Ta Hsu, Yanlei Gu, Shunsuke Kamijo, “GNSS Positioning Correction Method Using Altitude Map”, The 13rd ITS Symposium, Tokyo, Japan, December 3-4, 2015.
Yanlei Gu, Yutaro Wada, Li-Ta Hsu, Shunsuke Kamijo, “Correction of GNSS/INS Integration Error using Vision-Based Lane Recognition and Tracking for Precise Vehicle Self-Localization in Urban Environment”, JSAE Annual Congress 2015 spring, May, 2015.
Yanlei Gu, Li-Ta Hsu, Shunsuke Kamijo, “GNSS/INS/On-Board Camera Integration for Autonomous Vehicle Self-Localization”, IEICE Technical Report, Vol.115No. 73, pp23-28, June, 2015.
Yanlei Gu, and Shunsuke Kamijo, “Bicyclist Recognition and Orientation Estimation from On-board Vision System”, JSAE Annual Congress 2014 Autumn, October, 2014.
Shinya Yano, Yanlei Gu, and Shunsuke Kamijo, “Pedestrian Orientation Estimation using On-board Monocular Camera with Semi-Supervised Learning”, JSAE Annual Congress 2014 Spring, May, 2014.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, Masayuki Tanimoto, “Traffic Sign Detection and Tracking Based on Shape and Color Information”, IEICE Technical Report, Vol. 110, No. 469, pp. 29-34, March, 2011.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, Masayuki Tanimoto, “Long Distance Road Sign Recognition Using an Active Camera System”, IEICE Technical Report, Vol. 110, No. 150, pp. 13-18, July, 2010.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, Masayuki Tanimoto, “Traffic Sign Recognition Based on Edge Information and Template Matching”, The 14th Image Media Processing Symposium, pp. 75-76, October, 2009.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, Masayuki Tanimoto, “Traffic Sign Recognition Based on Template Matching”, The Tokai-Section Joint Conferences of Electrical and Related Engineers 2009, O-375, September, 2009.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, Masayuki Tanimoto, “Traffic Signs Recognition Based on Color and Shape Information”, IEICE Technical Report, PRMU, Vol. 109, No. 182, pp. 109-114, September, 2009.
Yanlei Gu, Tomohiro Yendo, Mehrdad Panahpour Tehrani, Toshiaki Fujii, Masayuki Tanimoto, “Traffic Sign Recognition Using Wide Angle Camera Cooperated with Narrow Angle Camera”, The ITE Annual Convention 2009, pp. 4-5, August, 2009.

Invited Talks and Lectures

Human-like Autonomous Driving and Future Challenges in Perception for Intelligent Vehicles, Operations Research Society of Japan Chugoku–Shikoku Branch Annual Meeting, Hiroshima, Japan, March 15th, 2025.
Autonomous Driving in the Urban City Environment, 3rd International Workshop on Dependability Modeling and Digitalization in ISSRE 2024, Tsukuba, Japan, October 28th - 31st, 2024.