| 1. |
Collaborative AI robots for adaptation of diverse environments and innovation of infrastructure construction. |
| 2. |
Atsushi Nakazawa, Miyuki Iwamoto, Ryo Kurazume, Masato Nunoi, Masaki Kobayashi, Miwako Honda, Augmented reality-based affective training for improving care communication skill and empathy., PloS one, 10.1371/journal.pone.0288175, 18, 7, e0288175, 2023.07, It is important for caregivers of people with dementia (PwD) to have good patient communication skills as it has been known to reduce the behavioral and psychological symptoms of dementia (BPSD) of PwD as well as caregiver burnout. However, acquiring such skills often requires one-on-one affective training, which can be costly. In this study, we propose affective training using augmented reality (AR) for supporting the acquisition of such skills. The system uses see-through AR glasses and a nursing training doll to train the user in both practical nursing skills and affective skills such as eye contact and patient communication. The experiment was conducted with 38 nursing students. The participants were assigned to either the Doll group, which only used a doll for training, or the AR group, which used both a doll and the AR system. The results showed that eye contact significantly increased and the face-to-face distance and angle decreased in the AR group, while the Doll group had no significant difference. In addition, the empathy score of the AR group significantly increased after the training. Upon analyzing the correlation between personality and changes of physical skills, we found a significant positive correlation between the improvement rate of eye contact and extraversion in the AR group. These results demonstrated that affective training using AR is effective for improving caregivers' physical skills and their empathy for their patients. We believe that this system will be beneficial not only for dementia caregivers but for anyone looking to improve their general communication skills.. |
| 3. |
Masaki Kobayashi, Miyuki Iwamoto, Saki Une, Ryo Kurazume, Atsushi Nakazawa, Miwako Honda, Simulated communication skills training program effects using augmented reality with real-time feedback: A randomized control study, Alzheimer’s and Dementia, 10.1002/alz.062055, 18, S8, 2022.12. |
| 4. |
Masaki Kobayashi, Miyuki Iwamoto, Saki Une, Ryo Kurazume, Atsushi Nakazawa, Miwako Honda, THE EFFECT OF COMMUNICATION SKILLS TRAINING FOR NURSING STUDENTS BY AUGMENTED REALITY SIMULATION SYSTEM, INNOVATION IN AGING, 6, 440-440, 2022.11. |
| 5. |
Jun Mutaguchi, Ken Ichi Morooka, Satoshi Kobayashi, Aiko Umehara, Shoko Miyauchi, Fumio Kinoshita, Junichi Inokuchi, Yoshinao Oda, Ryo Kurazume, Masatoshi Eto, Artificial intelligence for segmentation of bladder tumor cystoscopic images performed by U-Net with dilated convolution., Journal of endourology, 10.1089/end.2021.0483, 2022.01, BACKGROUND: Early intravesical recurrence after transurethral resection of bladder tumors (TURBT) is often caused by overlooking of tumors during TURBT. Although narrow-band imaging and photodynamic diagnosis were developed to detect more tumors than conventional white-light imaging, the accuracy of these systems has been subjective, along with poor reproducibility due to their dependence on the physician's experience and skills. To create an objective and reproducible diagnosing system, we aimed to assess the utility of artificial intelligence (AI) with Dilated U-Net to reduce the risk of overlooked bladder tumors when compared with the conventional AI system, termed U-Net. MATERIAL AND METHODS: We retrospectively obtained cystoscopic images by converting videos obtained from 120 patients who underwent TURBT into 1,790 cystoscopic images. The Dilated U-Net, which is an extension of the conventional U-Net, analyzed these image datasets. The diagnostic accuracy of the Dilated U-Net and conventional U-Net were compared using the following four measurements: pixel-wise sensitivity (PWSe); pixel-wise specificity (PWSp); pixel-wise positive predictive value (PWPPV), representing the AI diagnostic accuracy per pixel; and dice similarity coefficient (DSC), representing the overlap area between the bladder tumors in the ground truth images and segmentation maps. RESULTS: The cystoscopic images were divided as follows, according to the pathological T-stage: 944, Ta; 412, T1; 329, T2; and 116, carcinoma in-situ. The PWSe, PWSp, PWPPV, and DSC of the Dilated U-Net were 84.9%, 88.5%, 86.7%, and 83.0%, respectively, which had improved when compared to that with the conventional U-Net by 1.7%, 1.3%, 2.1%, and 2.3%, respectively. The DSC values were high for elevated lesions and low for flat lesions for both Dilated and conventional U-Net. CONCLUSIONS: Dilated U-Net, with higher DSC values than conventional U-Net, might reduce the risk of overlooking bladder tumors during cystoscopy and TURBT.. |
| 6. |
Yamato Kuroda, Qi An, Hiroshi Yamakawa, Shingo Shimoda, Jun-ichiro Furukawa, Jun Morimoto, Yuichi Nakamura, Ryo Kurazume, Development of a Chair to Support Human Standing Motion -Seat movement mechanism using zip chain actuator-, 2022 IEEE/SICE International Symposium on System Integration (SII), 10.1109/SII52469.2022.9708891, 555-560, 2022.01. |
| 7. |
Jeongho Ahn, Kazuto Nakashima, Koki Yoshino, Yumi Iwashita, Ryo Kurazume, 2V-Gait: Gait Recognition using 3D LiDAR Robust to Changes in Walking Direction and Measurement Distance, 2022 IEEE/SICE International Symposium on System Integration (SII), 10.1109/SII52469.2022.9708899, 602-607, 2022.01. |
| 8. |
Koki Yoshino, Kazuto Nakashima, Jeongho Ahn, Yumi Iwashita, Ryo Kurazume, Gait Recognition using Identity-Aware Adversarial Data Augmentation, 2022 IEEE/SICE International Symposium on System Integration (SII), 10.1109/SII52469.2022.9708776, 596-601, 2022.01. |
| 9. |
Kohei Matsumoto, Akihiro Kawamura, Qi An, Ryo Kurazume, Mobile Robot Navigation using Learning-based Method based on Predictive State Representation in a Dynamic Environment, 2022 IEEE/SICE International Symposium on System Integration (SII), 10.1109/SII52469.2022.9708775, 499-504, 2022.01. |
| 10. |
Hiroki Hanamori, Akihiro Kawamura, Ryo Kurazume, Soft Gripper Using 3D Snap-Through Buckling for Perishable Fresh Fruits Handling, 27th International Symposium on Artificial Life and Robotics (AROB 27th 2022), 2022.01. |
| 11. |
Preface to Special Issue on the 21st SICE System Integration Division Annual Conference. |
| 12. |
Qi An, Ningjia Yang, Hiroshi Yamakawa, Hiroki Kogami, Kazunori Yoshida, Ruoxi Wang, Atsushi Yamashita, Hajime Asama, Shu Ishiguro, Shingo Shimoda, Hiroshi Yamasaki, Moeka Yokoyama, Fady Alnajjar, Noriaki Hattori, Kouji Takahashi, Takanori Fujii, Hironori Otomune, Ichiro Miyai, Ryo Kurazume, Classification of Motor Impairments of Post-Stroke Patients Based on Force Applied to a Handrail., IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society, 10.1109/TNSRE.2021.3127504, 29, 2399-2406, 2021.11, Many patients suffer from declined motor abilities after a brain injury. To provide appropriate rehabilitation programs and encourage motor-impaired patients to participate further in rehabilitation, sufficient and easy evaluation methodologies are necessary. This study is focused on the sit-to-stand motion of post-stroke patients because it is an important daily activity. Our previous study utilized muscle synergies (synchronized muscle activation) to classify the degree of motor impairment in patients and proposed appropriate rehabilitation methodologies. However, in our previous study, the patient was required to attach electromyography sensors to his/her body; thus, it was difficult to evaluate motor ability in daily circumstances. Here, we developed a handrail-type sensor that can measure the force applied to it. Using temporal features of the force data, the relationship between the degree of motor impairment and temporal features was clarified, and a classification model was developed using a random forest model to determine the degree of motor impairment in hemiplegic patients. The results show that hemiplegic patients with severe motor impairments tend to apply greater force to the handrail and use the handrail for a longer period. It was also determined that patients with severe motor impairments did not move forward while standing up, but relied more on the handrail to pull their upper body upward as compared to patients with moderate impairments. Furthermore, based on the developed classification model, patients were successfully classified as having severe or moderate impairments. The developed classification model can also detect long-term patient recovery. The handrail-type sensor does not require additional sensors on the patient's body and provides an easy evaluation methodology.. |
| 13. |
Yumi Iwashita, Hitoshi Sakano, Ryo Kurazume, Adrian Stoica, Speed invariant gait recognition-The enhanced mutual subspace method, PLoS ONE, 10.1371/journal.pone.0255927, 16, 8 August, e0255927, 2021.08, This paper introduces an enhanced MSM (Mutual Subspace Method) methodology for gait recognition, to provide robustness to variations in walking speed. The enhanced MSM (eMSM) methodology expands and adapts the MSM, commonly used for face recognition, which is a static/physiological biometric, to gait recognition, which is a dynamic/behavioral biometrics. To address the loss of accuracy during calculation of the covariance matrix in the PCA step of MSM, we use a 2D PCA-based mutual subspace. Furhtermore, to enhance the discrimination capability, we rotate images over a number of angles, which enables us to extract richer gait features to then be fused by a boosting method. The eMSM methodology is evaluated on existing data sets which provide variable walking speed, i.e. CASIA-C and OU-ISIR gait databases, and it is shown to outperform state-of-the art methods. While the enhancement to MSM discussed in this paper uses combinations of 2D-PCA, rotation, boosting, other combinations of operations may also be advantageous.. |
| 14. |
Junki Aoki, Ryota Yamashina, and Ryo Kurazume, Teleoperation Method by Illusion of Human Intention and Time, 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 10.1109/RO-MAN50785.2021.9515457, 8 August, 482-487, 2021.08. |
| 15. |
Yumi Iwashita, Kazuto Nakashima, Joseph Gatto, Shoya Higa, Norris Khoo, Ryo Kurazume, Adrian Stoica, Virtual IR Sensing for Planetary Rovers: Improved Terrain Classification and Thermal Inertia Estimation, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), 2020.10. |
| 16. |
Yumi Iwashita, Kazuto Nakashima, Joseph Gatto, Shoya Higa, Adrian Stoica, Norris Khoo, Ryo Kurazume, Virtual IR Sensing for Planetary Rovers: Improved Terrain Classification and Thermal Inertia Estimation, IEEE Robotics and Automation Letters, 10.1109/LRA.2020.3013909, 5, 4, 6302-6309, 2020.10, Terrain classification is critically important for Mars rovers, which rely on it for planning and autonomous navigation. On-board terrain classification using visual information has limitations, and is sensitive to illumination conditions. Classification can be improved if one fuses visual imagery with additional infrared (IR) imagery of the scene, yet unfortunately there are no IR image sensors on the current Mars rovers. A virtual IR sensor, estimating IR from RGB imagery using deep learning, was proposed in the context of a MU-Net architecture. However, virtual IR estimation was limited by the fact that slope angle variations induce temperature differences within the same terrain. This paper removes this limitation, giving good IR estimates and as a consequence improving terrain classification by including the additional angle from the surface normal to the Sun and the measurement of solar radiation. The estimates are also useful when estimating thermal inertia, which can enhance slip prediction and small rock density estimation. Our approach is demonstrated in two applications. We collected a new data set to verify the effectiveness of the proposed approach and show its benefit by applying to the two applications.. |
| 17. |
Asuka Egashira, Yuta Horikawa, Takuma Hayashi, Akihiro Kawamura, Ryo Kurazume, Near-future perception system: Previewed Reality, Advanced Robotics, 10.1080/01691864.2020.1829041, 35, 1, 19-30, 2020.10, The present paper introduces a near-future perception system called Previewed Reality. In a co-existence environment of a human and a robot, unexpected collisions between the human and the robot must be avoided to the extent possible. In many cases, the robot is controlled carefully so as not to collide with a human. However, it is almost impossible to perfectly predict human behavior in advance. On the other hand, if a user can determine the motion of a robot in advance, he/she can avoid a hazardous situation and exist safely with the robot. In order to ensure that a user perceives future events naturally, we developed a near-future perception system named Previewed Reality. Previewed Reality consists of an informationally structured environment, a VR display or an AR display, and a dynamics simulator. A number of sensors are embedded in an informationally structured environment, and information such as the position of furniture, objects, humans, and robots, is sensed and stored structurally in a database. Therefore, we can forecast possible subsequent events using a robot motion planner and a dynamics simulator and can synthesize virtual images from the viewpoint of the user, which will actually occur in the near future. The viewpoint of the user, which is the position and orientation of a VR display or an AR display, is also tracked by an optical tracking system in the informationally structured environment, or the SLAM technique on an AR display. The synthesized images are presented to the user by overlaying these images on a real scene using the VR display or the AR display. This system provides human-friendly communication between a human and a robotic system, and a human and a robot can coexist safely by intuitively showing the human possible hazardous situations in advance.. |
| 18. |
Hiroyuki Yamada, Jeongho Ahn, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, Gait-based person identification using 3D LiDAR and long short-term memory deep networks, Advanced Robotics, 10.1080/01691864.2020.1793812, 34, 18, 1201-1211, 2020.07, Gait recognition is one measure of biometrics, which also includes facial, fingerprint, and retina recognition. Although most biometric methods require direct contact between a device and a subject, gait recognition has unique characteristics whereby interaction with the subjects is not required and can be performed from a distance. Cameras are commonly used for gait recognition, and a number of researchers have used depth information obtained using an RGB-D camera, such as the Microsoft Kinect. Although depth-based gait recognition has advantages, such as robustness against light conditions or appearance variations, there are also limitations. For instance, the RGB-D camera cannot be used outdoors and the measurement distance is limited to approximately 10 meters. The present paper describes a long short-term memory-based method for gait recognition using a real-time multi-line LiDAR. Very few studies have dealt with LiDAR-based gait recognition, and the present study is the first attempt that combines LiDAR data and long short-term memory for gait recognition and focuses on dealing with different appearances. We collect the first gait recognition dataset that consists of time-series range data for 30 people with clothing variations and show the effectiveness of the proposed approach.. |
| 19. |
Atsushi Nakazawa, Yu Mitsuzumi, Yuki Watanabe, Ryo Kurazume, Sakiko Yoshikawa, Miwako Honda, First-person Video Analysis for Evaluating Skill Level in the Humanitude Tender-Care Technique, Journal of Intelligent and Robotic Systems: Theory and Applications, 10.1007/s10846-019-01052-8, 98, 1, 103-118, 2020.04, In this paper, we describe a wearable first-person video (FPV) analysis system for evaluating the skill levels of caregivers. This is a part of our project that aims to quantize and analyze the tender-care technique known as Humanitude by using wearable sensing and AI technology devices. Using our system, caregivers can evaluate and elevate their care levels by themselves. From the FPVs of care sessions taken by wearable cameras worn by caregivers, we obtained the 3D facial distance, pose and eye-contact states between caregivers and receivers by using facial landmark detection and deep neural network (DNN)-based eye contact detection. We applied statistical analysis to these features and developed algorithms that provide scores for tender-care skill. In experiments, we first evaluated the performance of our DNN-based eye contact detection by using eye contact datasets prepared from YouTube videos and FPVs that assume conversational scenes. We then performed skill evaluations by using Humanitude training scenes involving three novice caregivers, two Humanitude experts and seven middle-level students. The results showed that our eye contact detection outperformed existing methods and that our skill evaluations can estimate the care skill levels.. |
| 20. |
Jim Torresen, Ryo Kurazume, Edson Prestes, Special Issue on Elderly Care Robotics – Technology and Ethics, Journal of Intelligent and Robotic Systems: Theory and Applications, 10.1007/s10846-020-01148-6, 98, 1, 3-4, 2020.04. |
| 21. |
Hitomi Iguma, Akihiro Kawamura, Ryo Kurazume, A New 3D Motion and Force Measurement System for Sport Climbing, Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, 10.1109/SII46433.2020.9026213, 1002-1007, 2020.01, Sport climbing is a form of rock climbing and has currently increased in popularity. This kind of climbing is played all over the world and becomes an Olympic sport. Motion measurement and analysis system have been required to improve the performance of climbers and instruct them properly. Several systems using motion capture have been proposed to analyze the movement of climbers so far. However, the conventional systems are not sufficient to describe climbing motions since the forces on holds have not been taken into account. This paper proposes a new 3D motion and force measurement system for sport climbing that can obtain the information on human motion and forces on holds simultaneously. The motion and force data are synchronized. Then, we can measure and analyze climbing motions geometrically and dynamically by using the proposed system. The performance of the proposed system is qualitatively verified by experiments.. |
| 22. |
Kohei Matsumoto, Hiroyuki Yamada, Masato Imai, Akihiro Kawamura, Yasuhiro Kawauchi, Tamaki Nakamura, Ryo Kurazume, Quasi-Zenith Satellite System-based Tour Guide Robot at a Theme Park, Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, 10.1109/SII46433.2020.9025964, 1212-1217, 2020.01, For autonomous service robots used in our daily environment, such as a personal mobility vehicles or delivery robots, localization is one of the most important and fundamental functions. A number of localization techniques, including simultaneous localization and mapping, have been proposed. Although a Global Navigation Satellite System (GNSS) is most commonly used in outdoor environments, its accuracy is around 10 meters and so is inadequate for navigation of an autonomous service robot. Therefore, a GNSS is usually used together with other localization techniques, such as map matching or camera-based localization. In the present study, we adopt the Quasi-Zenith Satellite System (QZSS), which became available in and around Japan on November 2018, for the localization of an autonomous service robot. The QZSS provides high-accuracy position information using electronic reference points and four quasi-zenith satellites, and has a localization error of less than 10 centimeters. In the present paper, we compare the positioning performance of the QZSS and real-time kinematic GPS, and verify the stability and the accuracy of the QZSS in an outdoor environment. In addition, we introduce a tour guide robot system using the QZSS and present the results of a guided tour experiment in a theme park.. |
| 23. |
Ukyo Katsura, Kohei Matsumoto, Akihiro Kawamura, Tomohide Ishigami, Tsukasa Okada, Ryo Kurazume, Spatial change detection using normal distributions transform, ROBOMECH Journal, 10.1186/s40648-019-0148-8, 6, 1, 2953-2959, 2019.12, Spatial change detection is a fundamental technique for finding the differences between two or more pieces of geometrical information. This technique is critical in some robotic applications, such as search and rescue, security, and surveillance. In these applications, it is desirable to find the differences quickly and robustly. The present paper proposes a fast and robust spatial change detection technique for a mobile robot using an on-board range sensors and a highly precise 3D map created by a 3D laser scanner. This technique first converts point clouds in a map and measured data to grid data (ND voxels) using normal distributions transform. The voxels in the map and the measured data are then compared according to the features of the ND voxels. Three techniques are introduced to make the proposed system robust for noise, that is, classification of point distribution, overlapping of voxels, and voting using consecutive sensing. The present paper shows the results of indoor and outdoor experiments using an RGB-D camera and an omni-directional laser scanner mounted on a mobile robot to confirm the performance of the proposed technique.. |
| 24. |
Bilel Daoud, Ken'ichi Morooka, Ryo Kurazume, Farhat Leila, Wafa Mnejja, Jamel Daoud, 3D segmentation of nasopharyngeal carcinoma from CT images using cascade deep learning, Computerized Medical Imaging and Graphics, 10.1016/j.compmedimag.2019.101644, 77, 2019.10, In the paper, we propose a new deep learning-based method for segmenting nasopharyngeal carcinoma (NPC) in the nasopharynx from three orthogonal CT images. The proposed method introduces a cascade strategy composed of two-phase manners. In CT images, there are organs, called non-target organs, which NPC never invades. Therefore, the first phase is to detect and eliminate non-target organ regions from the CT images. In the second phase, NPC is extracted from the remained regions in the CT images. Convolutional neural networks (CNNs) are applied to detect non-target organs and NPCs. The proposed system determines the final NPC segmentation by integrating three results obtained from coronal, axial and sagittal images. Moreover, we construct two CNN-based NPC detection systems using one kind of overlapping patches with a fixed size and various overlapping patches with different sizes. From the experiments using CT images of 70 NPC patients, our proposed systems, especially the system using various patches, achieves the best performance for detecting NPC compared with conventional NPC detection methods.. |
| 25. |
Yumi Iwashita, Kazuto Nakashima, Sir Rafol, Adrian Stoica, Ryo Kurazume, MU-net: Deep learning-based thermal IR image estimation from RGB image, IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, 10.1109/CVPRW.2019.00134, 2019-June, 1022-1028, 2019.06, Terrain imagery collected by satellite remote sensing or by rover on-board sensors is the primary source for terrain classification used in determining terrain traversibility and mission plans for planetary rovers. Mapping models between RGB and IR for terrain classes are learned from real RGB and IR data examples in the same or similar terrain. This paper adds a new class of deep learning architectures called MU-Net (Multiple U-Net) and shows its efficiency in deriving better RGB-to-IR mapping models, improving over past work the estimation of thermal IR images from incoming RGB images and learned RGB-IR mappings.. |
| 26. |
Ukyo Katsura, Kohei Matsumoto, Akihiro Kawamura, Tomohide Ishigami, Tsukasa Okada, Ryo Kurazume, Spatial change detection using voxel classification by normal distributions transform, 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2953-2959, 2019.05, Detection of spatial change around a robot is indispensable in several robotic applications, such as search and rescue, security, and surveillance. The present paper proposes a fast spatial change detection technique for a mobile robot using an on-board RGB-D/stereo camera and a highly precise 3D map created by a 3D laser scanner. This technique first converts point clouds in a map and measured data to grid data (ND voxels) using normal distributions transform and classifies the ND voxels into three categories. The voxels in the map and the measured data are then compared according to the category and features of the ND voxels. Overlapping and voting techniques are also introduced in order to detect the spatial changes more robustly. We conducted experiments using a mobile robot equipped with real-time range sensors to confirm the performance of the proposed real-time localization and spatial change detection techniques in indoor and outdoor environments.. |
| 27. |
Ryosuke Tatara, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura, Development of an Inflatable Robotic Arm on Mobile Platform for Fetch-and-Give Tasks, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, 10.1109/SII.2019.8700431, 707-711, 2019.04, © 2019 IEEE. This paper proposes a novel inflatable robotic arm on a mobile platform. To date, inflatable structures have been utilized for robotic arms to provide the workforce in the welfare and nursing care fields. In these fields, inflatable robots, which is lightweight, soft and compactable, is suitable to perform daily tasks near humans and things because of safe contact. In our research group, an inflatable robotic arm consisting of inflatable links, inflatable actuators and a gripper with pleated sheet structures have been developed.In this paper, the robotic arm is utilized in combination with a mobile platform in order to realize practical daily tasks. As an example of the task, a fetch-and-give task is demonstrated. The posture of the robotic arm and the position of the mobile platform is measured by a motion capture system. The whole system is controlled based on the visual information. Finally, it is confirmed that the inflatable robot has sufficient performance for a daily task in living space.. |
| 28. |
Ryosuke Tatara, Kazuki Ebisu, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura, Inflatable Robotic Arm with Overlaid Plastic Sheet Structure, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, 10.1109/SII.2019.8700329, 689-694, 2019.04, © 2019 IEEE. An inflatable structure has been focused by several researchers in the field of soft robotics, owing to its features: flexible, lightweight and compactable. In particular, inflatable robotic arms have been expected to perform daily tasks near humans due to safe contact. To date, several inflatable robotic arms have been proposed, however, the number of robotic arms composed of only plastic materials is quite limited. In addition, the control performance of the robots has not been discussed sufficiently.This paper proposes a novel inflatable robotic arm composed of poly-laminated sheets and low-density polyethylene (LDPE) sheets. The combination of the two materials provides high-pressure resistance. Several advantages are also given: high torque, high control performance, and high load capacity. Moreover, both pressure and visual feedback controls are utilized to realize precise motion control. The end-effector of the robot is composed of pleated structures and grasps flexibly according to object shapes. The performance of the robot is finally described by some experiments.. |
| 29. |
Hiroyuki Yamada, Tomoki Hiramatsu, Masato Imai, Akihiro Kawamura, Ryo Kurazume, Sensor terminal 'Portable' for intelligent navigation of personal mobility robots in informationally structured environment, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, 10.1109/SII.2019.8700446, 182-187, 2019.04, © 2019 IEEE. This study proposes two kinds of systems for building intelligent service robots, namely a sensor terminal named 'Portable' for making various personal mobility robots intelligent and a distributed sensor system for constructing an informationally structured environment consisting of laser range finders and active beacons. The sensor terminal Portable is equipped with a laser range finder and a gyro. Two types of personal mobility robot, namely standing type and wheelchair type, are made intelligent by installing Portable to provide navigation functions such as localization, obstacle detection, and path planning. The sensor system is mainly used to acquire position information about the personal mobility robots, obstacles, and moving objects (e.g., people); this information is used by Portable for navigation. The obtained information is transmitted to the robot, allowing it to operate in a complicated environment. The ability of the proposed system to navigate personal mobility robots is verified in two real environments.. |
| 30. |
Óscar Martínez Mozos, Kazuto Nakashima, Hojung Jung, Yumi Iwashita, Ryo Kurazume, Fukuoka datasets for place categorization., Int. J. Robotics Res., 10.1177/0278364919835603, 38, 5, 507-517, 2019.03, © The Author(s) 2019. This paper presents several multi-modal 3D datasets for the problem of categorization of places. In this problem. a robotic agent should decide on the type of place/environment where it is located (residential area, forest, etc.) using information gathered by its sensors. In addition to the 3D depth information, the datasets include additional modalities such as RGB or reflectance images. The observations were taken in different indoor and outdoor environments in Fukuoka city, Japan. Outdoor place categories include forests, urban areas, indoor parking, outdoor parking, coastal areas, and residential areas. Indoor place categories include corridors, offices, study rooms, kitchens, laboratories, and toilets. The datasets are available to download at http://robotics.ait.kyushu-u.ac.jp/kyushu_datasets.. |
| 31. |
Yumi Iwashita, Kazuto Nakashima, Adrian Stoica, Ryo Kurazume, TU-Net and TDeepLab: Deep Learning-Based Terrain Classification Robust to Illumination Changes, Combining Visible and Thermal Imagery., Proceedings - 2nd International Conference on Multimedia Information Processing and Retrieval, MIPR 2019, 10.1109/MIPR.2019.00057, 280-285, 2019.03, © 2019 IEEE. In this paper we propose two novel deep learning-based terrain classification methods robust to illumination changes. The use of cameras is challenged by a variety of factors, of most importance being the changes in illumination. On the other hand, since the temperature of various types of terrains depends on the thermal characteristics of the terrain, the terrain classification can be aided by utilizing the thermal information in addition to visible information. Thus we propose 'TU-Net (Two U-Net)' based on the U-Net and 'TDeepLab (Two DeepLab)' based on DeepLab, which combine visible and thermal images and train the network robust to illumination changes implicitly. To improve the network's learning capability, we expand the proposed methods to the Siamese-based method, which explicitly trains the network to be robust to illumination changes. We also investigate multiple options to fuse the visible and thermal images at at the bottom layer, middle layer, or the top layer of the network. We evaluate the proposed methods with a challenging new dataset consisting of visible and thermal images, which were collected from 10 am till 5 pm (after sunset), and we show the effectiveness of the proposed methods.. |
| 32. |
Shoko Miyauchi, Ken'ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Brain volume mapping for constructing volumetric statistical shape model, Proceedings of SPIE - The International Society for Optical Engineering, 10.1117/12.2519819, 11050, 2019.03, © 2019 SPIE. We propose a new method for mapping onto a brain volume model including inner organs with complicated shapes such as lateral ventricles. The proposed method is based on a volumetric Self-organizing Deformable Model (vSDM) which allows to control the mapping positions of inner organs while preserving geometrical features before and after the mapping. The control sometimes causes the self-intersection of the volume model. The solution for the self-intersection in vSDM is to move vertices of the volume model. However, when the inner organ has complicated shape, the vertex movement cannot always correct the self-intersection. To solve this problem, we extend vSDM by introducing a new process of editing the mesh structure of the volume model. Moreover, by applying the proposed method to six brain volume models, a volumetric Statistical Shape Model (SSM) is constructed which represents the shape variations of not only brain surface but also brain inner organs. From experimental results, we confirmed the volumetric SSM has an acceptable performance compared with general surface SSMs generated by organ surface models.. |
| 33. |
Morooka, K., Matsubara, R., Miyauchi, S., Fukuda, T., Sugii, T., Kurazume, R., Ancient pelvis reconstruction from collapsed component bones using statistical shape models, Machine Vision and Applications, 10.1007/s00138-018-0972-5, 30, 1, 59-69, 2019.02, © 2018, Springer-Verlag GmbH Germany, part of Springer Nature. We propose a new method for recovering the pelvis of an ancient skeleton from its three component bones with collapsed surfaces. The proposed method uses four types of statistical shape models (SSMs) for the bones. The SSM for each bone describes the mean shape and shape variations of a class of bones. The SSMs for the three component bones are employed to restore the shapes of the component bones. The SSM for the whole pelvis provides the natural anatomical shape of the pelvis and the spatial relationship among the sacrum and the hip bones. Therefore, the three component bones are aligned by using the SSM for the pelvis. The experimental results show that our method achieves reliable reconstruction of the ancient pelvis shape despite having collapsed surfaces in its component bones.. |
| 34. |
Shoko Miyauchi, Ken’ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Volumetric Brain Model Mapping for Constructing Volume Statistical Shape Model, 2019 Joint International Workshop IWAIT-IFMIA, 2019.01. |
| 35. |
Kazuto Nakashima, Yumi Iwashita, Akihiro Kawamura, Ryo Kurazume, Fourth-Person Captioning: Describing Daily Events by Uni-supervised and Tri-regularized Training, Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, 10.1109/SMC.2018.00365, 2122-2127, 2019.01, © 2018 IEEE. We aim to develop a supporting system which enhances the ability of human's short-term visual memory in an intelligent space where the human and a service robot coexist. Particularly, this paper focuses on how we can interpret and record diverse and complex life events on behalf of humans, from a multi-perspective viewpoint. We propose a novel method named 'fourth-person captioning', which generates natural language descriptions by summarizing visual contexts complementarily from three types of cameras corresponding the first-, second-, and third-person viewpoint. We first extend the latest image captioning technique and design a new model to generate a sequence of words given the multiple images. Then we provide an effective training strategy that needs only annotations supervising images from a single viewpoint in a general caption dataset and unsupervised triplet instances in the intelligent space. As the three types of cameras, we select a wearable camera on the human, a robot-mounted camera, and an embedded camera, which can be defined as the first-, second-, and third-person viewpoint, respectively. We hope our work will accelerate a cross-modal interaction bridging the human's egocentric cognition and multi-perspective intelligence.. |
| 36. |
Real-time distant 3D tracking by 3D laser scanner (Developments of new scan function for RobotEye RE05 and algorithms for real-time 3D tracking). |
| 37. |
Computational Tender-Care Science: Computational and Cognitive Neuroscientific Approaches for Understanding the Tender Care. |
| 38. |
Ken'ichi Morooka, Shoko Miyauchi, Xian Chen, Ryo Kurazume, Hexahedron Model Generation of Human Organ by Self-Organizing Deformable Model, World Automation Congress Proceedings, 10.23919/WAC.2018.8430386, 2018-June, 188-192, 2018.08, © 2018 TSI Press. This paper presents a new method for generating object mesh models composed of hexahedra. The proposed method is based on a self-organizing deformable model (SDM) which is a deformable surface model guided by competitive learning and an energy minimization approach. Extending the SDM, the proposed method generates a hexahedral mesh model of a target object by fitting a cuboid composed of rectangular voxels to the object. Moreover, the shape of each hexahedron in the model is corrected by dividing the hexahedron into sub-hexahedra and moving the nodes of the hexahedron. From our experimental results, the proposed method obtains the hexahedral mesh model which consists of many regular hexahedra while recovering the shape of the object.. |
| 39. |
Yumi Iwashita, Adrian Stoica, Kazuto Nakashima, Ryo Kurazume, Jim Torresen, Virtual Sensors Determined Through Machine Learning, World Automation Congress Proceedings, 10.23919/WAC.2018.8430480, 2018-June, 318-321, 2018.08, © 2018 TSI Press. We propose a method that increases the capability of a conventional sensor, transforming it into an enhanced virtual sensor. This paper focuses on a virtual thermal Infrared Radiation (IR) sensor based on a conventional visual (RGB) sensor. The estimation of thermal IR images can enhance the ability of terrain classification, which is crucial for autonomous navigation of rovers. The estimate in IR from visual band has inherent limitations, as these are different bands, yet correlations between visual RGB and thermal IR images exist, as different terrains, which visually may appear different, also have different thermal inertia. This paper describes the developed deep learning-based algorithm that estimates thermal IR images from RGB images of terrains, providing the feasibility of the idea with average 1.21 error [degree Celsius].. |
| 40. |
Kazuto Nakashima, Hojung Jung, Yuki Oto, Yumi Iwashita, Ryo Kurazume, Oscar Martinez Mozos, Learning geometric and photometric features from panoramic LiDAR scans for outdoor place categorization, Advanced Robotics, 10.1080/01691864.2018.1501279, 32, 14, 750-765, 2018.07, © 2018, © 2018 Taylor & Francis and The Robotics Society of Japan. Semantic place categorization, which is one of the essential tasks for autonomous robots and vehicles, allows them to have capabilities of self-decision and navigation in unfamiliar environments. In particular, outdoor places are more difficult targets than indoor ones due to perceptual variations, such as dynamic illuminance over 24 hours and occlusions by cars and pedestrians. This paper presents a novel method of categorizing outdoor places using convolutional neural networks (CNNs), which take omnidirectional depth/reflectance images obtained by 3D LiDARs as the inputs. First, we construct a large-scale outdoor place dataset named Multi-modal Panoramic 3D Outdoor (MPO) comprising two types of point clouds captured by two different LiDARs. They are labeled with six outdoor place categories: coast, forest, indoor/outdoor parking, residential area, and urban area. Second, we provide CNNs for LiDAR-based outdoor place categorization and evaluate our approach with the MPO dataset. Our results on the MPO dataset outperform traditional approaches and show the effectiveness in which we use both depth and reflectance modalities. To analyze our trained deep networks, we visualize the learned features.. |
| 41. |
Shoko Miyauchi, Ken'ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Efficient Geometrical Feature Preserving Mapping for Organ Surface Mode, 2018 IEEE International Symposium on Biomedical Imaging, 2018.04. |
| 42. |
Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Fast modified Self-organizing Deformable Model: Geometrical feature-preserving mapping of organ models onto target surfaces with various shapes and topologies, Computer Methods and Programs in Biomedicine, 10.1016/j.cmpb.2018.01.028, 157, 237-250, 2018.04, © 2018 Elsevier B.V. Background and Objective: This paper proposes a new method for mapping surface models of human organs onto target surfaces with the same genus as the organs. Methods: In the proposed method, called modified Self-organizing Deformable Model (mSDM), the mapping problem is formulated as the minimization of an objective function which is defined as the weighted linear combination of four energy functions: model fitness, foldover-free, landmark mapping accuracy, and geometrical feature preservation. Further, we extend mSDM to speed up its processes, and call it Fast mSDM. Results: From the mapping results of various organ models with different number of holes, it is observed that Fast mSDM can map the organ models onto their target surfaces efficiently and stably without foldovers while preserving geometrical features. Conclusions: Fast mSDM can map the organ model onto the target surface efficiently and stably, and is applicable to medical applications including Statistical Shape Model.. |
| 43. |
Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura, Motion control for robotic arm with rotational counterweights, SII 2017 - 2017 IEEE/SICE International Symposium on System Integration, 10.1109/SII.2017.8279288, 2018-January, 608-613, 2018.02, © 2017 IEEE. This paper proposes a new control method for the robotic arm with rotational counterweights. This robotic arm is actuated by gravitational and inertia torque of the counterweights. To date, the control law which achieves the angle control of the robot has been proposed. However, in the research, only 1 DOF robot is discussed. Moreover, the stability analysis of the dynamics hasn't been shown. The new control method proposed in this paper achieves the angle control of 2 DOFs, and we can prove the dynamic stability. In this paper, we show the convergence of the dynamics considering the method. Also we conduct numerical simulations for position control of 2 DOFs robotic arm. Verifying the angles of the robotic arm converge to its desired angles, the utility of the method is demonstrated.. |
| 44. |
Kazuto Nakashima, Seungwoo Nham, Hojung Jung, Yumi Iwashita, Ryo Kurazume, Oscar M. Mozos, Recognizing outdoor scenes by convolutional features of omni-directional LiDAR scans, SII 2017 - 2017 IEEE/SICE International Symposium on System Integration, 10.1109/SII.2017.8279243, 2018-January, 387-392, 2018.02, © 2017 IEEE. We present a novel method for the outdoor scene categorization using 2D convolutional neural networks (CNNs) which take panoramic depth images obtained by a 3D laser scanner as input. We evaluate our approach in two outdoor scene datasets including six categories: coast, forest, indoor parking, outdoor parking, residential area, and urban area. Our results on both datasets (over 94%) outperform previous approaches and show the effectiveness of this approach for outdoor scene categorization using depth images. To analyze our trained networks we visualize the learned features by using two visualization methods.. |
| 45. |
Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume, Motion Control for Robotic Arm with Rotational Counterweights, 2017 IEEE/SICE International Symposium on System Integration (SII 2017), 2017.12. |
| 46. |
Kazuto Nakashima, Seungwoo Nham, Hojung Jung, Yumi Iwashita, Ryo Kurazume, Oscar Mozos, Recognizing Outdoor Scenes by Convolutional Features of Omni-directional LiDAR Scans, 2017 IEEE/SICE International Symposium on System Integration (SII 2017), 2017.12. |
| 47. |
Yuta Horikawa, Asuka Egashira, Kazuto Nakashima, Akihiro Kawamura, Ryo Kurazume, Previewed reality: Near-future perception system, IEEE International Conference on Intelligent Robots and Systems, 10.1109/IROS.2017.8202181, 2017-September, 370-375, 2017.12, © 2017 IEEE. This paper presents a near-future perception system named 'Previewed Reality'. The system consists of an informationally structured environment (ISE), an immersive VR display, a stereo camera, an optical tracking system, and a dynamic simulator. In an ISE, a number of sensors are embedded, and information such as the position of furniture, objects, humans, and robots, is sensed and stored in a database. The position and orientation of the immersive VR display are also tracked by an optical tracking system. Therefore, we can forecast the next possible events using a dynamic simulator and synthesize virtual images of what users will see in the near future from their own viewpoint. The synthesized images, overlaid on a real scene by using augmented reality technology, are presented to the user. The proposed system can allow a human and a robot to coexist more safely by showing possible hazardous situations to the human intuitively in advance.. |
| 48. |
Shoko Miyauchi, Ken'ichi Morooka, Sho Sasaki, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Kazuhiro Samura, Ryo Kurazume, Brain Atlas Construction by Non-Rigid Registration of Brain Block Models, CARS 2017 Computer Assisted Radiology and Surgery, 2017.06. |
| 49. |
岩下 友美, 掛下 真舟, 坂野 鋭, Ryo Kurazume, Making gait recognition robust to speed changes using mutual subspace method, IEEE International Conference on Robotics and Automation (ICRA2017), 2017.05. |
| 50. |
Ryo Kurazume, ピョ ヨンソク, Tokuo Tsuji, 河村 晃宏, Feasibility study of IoRT platform "Big Sensor Box", IEEE International Conference on Robotics and Automation (ICRA2017) , 2017.05. |
| 51. |
Shuji Oishi, Naoaki Kondo, Ryo Kurazume, Object classification with range and reflectance data from a single laser scanner, Proceedings of SPIE - The International Society for Optical Engineering, 10.1117/12.2265178, 10338, 103380U, 2017.05, © 2017 SPIE. This paper presents a new object classification technique for 3D point cloud data acquired with a laser scanner. In general, it is not straightforward to distinguish objects that have similar 3D structures but belong to different categories based only on the range data. To tackle this issue, we focus on laser reflectance obtained as a side product of range measurement by a laser scanner. Since laser reflectance contains appearance information, the proposed method classifies objects based on not only geometrical features in range data but also appearance features in reflectance data, both of which are acquired by a single laser scanner. Furthermore, we extend the conventional Histogram of Oriented Gradients (HOG) so that it couples geometrical and appearance information more tightly. Experiments show the proposed technique combining geometrical and appearance information outperforms conventional techniques.. |
| 52. |
Ryo Kurazume, Souichiro Oshima, Shingo Nagakura, Yongjin Jeong, Yumi Iwashita, Automatic large-scale three dimensional modeling using cooperative multiple robots, Computer Vision and Image Understanding, 10.1016/j.cviu.2016.05.008, 157, 25-42, 2017.04, © 2016 The Author(s) 3D modeling of real objects by a 3D laser scanner has become popular in many applications, such as reverse engineering of petrochemical plants, civil engineering and construction, and digital preservation of cultural properties. Despite the development of lightweight and high-speed laser scanners, the complicated measurement procedure and long measurement time are still heavy burdens for widespread use of laser scanning. To solve these problems, a robotic 3D scanning system using multiple robots has been proposed. This system, named CPS-SLAM, consists of a parent robot with a 3D laser scanner and child robots with target markers. A large-scale 3D model is acquired by an on-board 3D laser scanner on the parent robot from several positions determined precisely by a localization technique, named the Cooperative Positioning System (CPS), that uses multiple robots. Therefore, this system can build a 3D model without complicated post-processing procedures such as ICP. In addition, this system is an open-loop SLAM system and a very precise 3D model can be obtained without closed loops. This paper proposes an automatic planning technique for a laser measurement by using CPS-SLAM. Planning a proper scanning strategy depending on a target structure makes it possible to perform laser scanning efficiently and accurately even for a large-scale and complex environment. The proposed technique plans an efficient scanning strategy automatically by taking account of several criteria, such as visibility between robots, error accumulation, and efficient traveling. We conducted computer simulations and outdoor experiments to verify the performance of the proposed technique.. |
| 53. |
Yumi Iwashita, Yuki Takefuji, Ryo Kurazume, Stable aerial image registration for people detection from a low-altitude aerial vehicle, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings, 10.1109/SMC.2016.7844929, 4435-4439, 2017.02, © 2016 IEEE. In this paper, for the purpose of monitoring people moving on the ground from a low-altitude aerial vehicle, we propose a method for stable image stabilization using planar information of the ground. In existing methods the homography-based method has been popularly used for image stabilization. However, in case that captured images consist of non-planar areas, the performance of the homography-based method decreases. The essential-based method works well in this scene, but the accuracy gets worse in case that images mainly include planar areas. Thus in the proposed method, we utilize the Geometric Robust Information Criterion (GRIC) model to choose a method from the homography-based method or the essential-based method. After the selection of the method, we extract a planar area in the scene by fitting a plane using RANSAC, followed by detection of people on the ground with high accuracy. Experimental results confirm that the effectiveness of the proposed method.. |
| 54. |
Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Kurazume Ryo, Kazuhiro Samura, Simulation of Deforming Human Tissue by Multiple Deep Neural Networks, International Forum on Medical Imaging in Asia 2017, 2017.01. |
| 55. |
A Method for Estimating Tissue Deformation by Deep Neural Network. |
| 56. |
Simulation of Deforming Human Tissue by Multiple Deep Neural Networks. |
| 57. |
Shigeru Takano, Maiya Hori, Takayuki Goto, Seiichi Uchida, Ryo Kurazume, Rin Ichiro Taniguchi, Deep learning-based prediction method for people flows and their anomalies, ICPRAM 2017 - Proceedings of the 6th International Conference on Pattern Recognition Applications and Methods, 10.5220/0006248806760683, 2017-January, 676-683, 2017.01, © 2017 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved. This paper proposes prediction methods for people flows and anomalies in people flows on a university campus. The proposed methods are based on deep learning frameworks. By predicting the statistics of people flow conditions on a university campus, it becomes possible to create applications that predict future crowded places and the time when congestion will disappear. Our prediction methods will be useful for developing applications for solving problems in cities.. |
| 58. |
Kouji Murakami, Tokuo Tsuji, Tsutomu Hasegawa, Ryo Kurazume, Object tracking system by integrating multi-sensored data, The 42nd Annual Conference of IEEE Industrial Electronics Society (IECON 2016), 2016.12. |
| 59. |
Kazuto Nakashim, Girard Julien, Yumi Iwashita, Ryo Kurazume, Automatic Houseware Registration System for Informationally-Structured Environment, 2016 IEEE/SICE International Symposium on System Integration (SII 2016), 2016.12. |
| 60. |
Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Angle- and Volume-Preserving Mapping of Organ Volume Model Based on modified Self-organizing Deformable Model, 23rd International Conference on Pattern Recognition (ICPR 2016)
, 2016.12. |
| 61. |
Kouji Murakami, Tokuo Tsuji, Tsutomu Hasegawa, Ryo Kurazume, Object tracking system by integrating multi-sensored data, IECON Proceedings (Industrial Electronics Conference), 10.1109/IECON.2016.7793355, 747-754, 2016.12, © 2016 IEEE. We propose an object tracking system which recognizes everyday objects and estimates their positions by using distributed sensors in a room and mobile robots. The placement of objects is frequently changed according to human activities. Although a passive RFID tag is attached to each object for the object's recognition, the placement is often not uniquely determined due to the deficiency of measured data. We have already proposed a method for estimating the placement of objects by using the moving trajectories of objects. This estimation result is expressed as the probability distribution of the object placement. However intersections of trajectories cause the decrease of the estimation accuracy. So we propose a new method based on Bayesian inference to improve the estimation accuracy by using the size and the shape of an object measured by laser range finder. Then a mobile robot settles the placement with small workload by using the mounted sensor. The system successfully recognized and localized 10 objects in the experiment.. |
| 62. |
Hojung Jung, Yuki Oto, Oscar M. Mozos, Yumi Iwashita, Ryo Kurazume, Multi-modal panoramic 3D outdoor datasets for place categorization, IEEE International Conference on Intelligent Robots and Systems, 10.1109/IROS.2016.7759669, 2016-November, 4545-4550, 2016.11, © 2016 IEEE. We present two multi-modal panoramic 3D outdoor (MPO) datasets for semantic place categorization with six categories: forest, coast, residential area, urban area and indoor/outdoor parking lot. The first dataset consists of 650 static panoramic scans of dense (9,000,000 points) 3D color and reflectance point clouds obtained using a FARO laser scanner with synchronized color images. The second dataset consists of 34,200 real-time panoramic scans of sparse (70,000 points) 3D reflectance point clouds obtained using a Velodyne laser scanner while driving a car. The datasets were obtained in the city of Fukuoka, Japan and are publicly available in [1], [2]. In addition, we compare several approaches for semantic place categorization with best results of 96.42% (dense) and 89.67% (sparse).. |
| 63. |
Yumi Iwashita, Yuki Takefuji, Ryo Kurazume, Stable aerial image registration for people detection from a low-altitude aerial vehicle, 2016 IEEE International Conference on Systems, Man, and Cybernetics, 2016.10. |
| 64. |
Hojung Jung, Yuki Oto, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, Multi-modal Panoramic 3D Outdoor Datasets for Place Categorization, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016.10. |
| 65. |
Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Kurazume Ryo, A Method for Estimating Tissue Deformation by Deep Neural Network, Asian Conference on Computer Aided Surgery (ACCAS 2016), 2016.10. |
| 66. |
Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Volume Representation of Parenchymatous Organs by Volumetric Self-organizing Deformable Model, MICCAI 2016 Workshop on Spectral and Shape Analysis in Medical Imaging, 2016.10. |
| 67. |
Ryo Kurazume, Souichiro Oshima, Shingo Nagakura, Yongjin Jeong, Yumi Iwashita, Automatic large-scale three dimensional modeling using cooperative multiple robots, Computer Vision and Image Understanding, 10.1016/j.cviu.2016.05.008, 2016.05. |
| 68. |
Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, Local N-ary Patterns: a local multi-modal descriptor for place categorization, Advanced Robotics, 2016.03. |
| 69. |
Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, Local N-ary Patterns: A local multi-modal descriptor for place categorization, Advanced Robotics, 10.1080/01691864.2015.1120242, 30, 6, 402-415, 2016.03, © 2016 Taylor & Francis and The Robotics Society of Japan. This paper presents an effective integration method of multiple modalities such as depth, color, and reflectance for place categorization. To achieve better performance with integrated multi-modalities, we introduce a novel descriptor, local N-ary patterns (LTP), which can perform robust discrimination of place categorization. In this paper, the LNP descriptor is applied to a combination of two modalities, i.e. depth and reflectance, provided by a laser range finder. However, the LNP descriptor can be easily extended to a larger number of modalities. The proposed LNP describes relationships between the multi-modal values of pixels and their neighboring pixels. Since we consider the multi-modal relationship, our proposed method clearly demonstrates more effective classification results than using individual modalities. We carried out experiments with the Kyushu University Indoor Semantic Place Dataset, which is publicly available. This data-set is composed of five indoor categories: corridors, kitchens, laboratories, study rooms, and offices. We confirmed that our proposed method outperforms previous uni-modal descriptors.. |
| 70. |
Yumi Iwashita, Ryo Kurazume, Stable Image Registration for People Tracking from the Sky, Proceedings - 2015 6th International Conference on Emerging Security Technologies, EST 2015, 10.1109/EST.2015.14, 69-73, 2016.03, © 2015 IEEE. We propose a novel method for stabilizing videos taken by a low altitude aerial vehicle, for the purpose of monitoring activities on the ground. A popular choice for aerial video stabilization is the use of homography-based methods, which assume that the scene consists mostly of planar regions. When videos are recorded in low altitude flight, the regions with buildings, trees and hills are non-planar areas (with relatively big changes in height), and making the planar assumption would decrease the accuracy of stabilization with respect to the ground. The idea presented in this paper is to stabilize aerial images, where height changes exist, by explicitly estimating a planar area in the scene. For the estimation of planar region, a relative pose between two images is estimated by taking advantages of the homography-based method and the essential matrix-based method. Positions in the 3D space are reconstructed from feature points on the images, which are used for the pose estimation, and points on the plane are estimated based on RANSAC. The points on the flat area are used for stabilization of images with high accuracy. The experimental results with simulated aerial images illustrate the proposed method can estimate relative pose with higher accuracy compared with previous approaches, even when noise is present. The proposed method is also applied to real aerial images, in people tracking. Experimental results show that tracking using the proposed method has better performance than tracking using the homography-based method.. |
| 71. |
Shoko Miyauchi, Ken'Ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, A method for mapping tissue volume model onto target volume using volumetric self-organizing deformable model, Progress in Biomedical Optics and Imaging - Proceedings of SPIE, 10.1117/12.2217367, 9784, 97842Z, 2016.03, © 2016 SPIE. This paper proposes a new method for mapping volume models of human tissues onto a target volume with simple shapes. The proposed method is based on our modified self-organizing deformable model (mSDM)1, 2 which finds the one-to-one mapping with no foldovers between arbitrary surface model and a target surface. By extending mSDM to apply to volume models, the proposed method, called volumetric SDM (vSDM), establishes the one-to-one correspondence between the tissue volume model and its target volume. At the same time, vSDM can preserve geometrical properties of the original model before and after mapping. This characteristic of vSDM makes it easy to find the correspondence between tissue models.. |
| 72. |
Farouk Ghallabi, Akihiro Kawamura, Yoonseok Pyo, Tokuo Tsuji, Ryo Kurazume, Control architecture for service drone in informationally structured environment, 2015 IEEE/SICE International Symposium on System Integration, SII 2015, 10.1109/SII.2015.7405049, 611-618, 2016.02, © 2015 IEEE. In this paper, we present a control architecture that enables a service drone to navigate in an informationally structured environment (ISE) and to accomplish a specific service task autonomously based on the ROS-TMS framework. The ROS-TMS is a ROS-based distributed information management system for ISE. It manages a variety of subsystems ranging from sensing by distributed sensors to motion planning and behavior control for service robots. The proposed architecture is designed as a component of the ROS-TMS, and consists of a navigation system that solves a path planning in ISE and a flight control system by a behavior-based finite state machine. The navigation of the drone is allowed by an optical motion tracking system consisting of distributed infrared cameras managed by the ROS-TMS. A graphical user interface is designed to provide simple manipulation of a service task by a drone. Service experiments have been conducted to validate the performance of the architecture.. |
| 73. |
Asamichi Takamine, Yumi Iwashita, Ryo Kurazume, First-person activity recognition with C3D features from optical flow images, 2015 IEEE/SICE International Symposium on System Integration, SII 2015, 10.1109/SII.2015.7405050, 619-622, 2016.02, © 2015 IEEE. This paper proposes new features extracted from images derived from optical flow, for first-person activity recognition. Features from convolutional neural network (CNN), which is designed for 2D images, attract attention from computer vision researchers due to its powerful discrimination capability, and recently a convolutional neural network for videos, called C3D (Convolutional 3D), was proposed. Generally CNN / C3D features are extracted directly from original images / videos with pre-trained convolutional neural network, since the network was trained with images / videos. In this paper, on the other hand, we propose the use of images derived from optical flow (we call this image as "optical flow image") as input images into the pre-trained neural network, based on the following reasons; (i) optical flow images give dynamic information which is useful for activity recognition, compared with original images, which give only static information, and (ii) the pre-trained network has chance to extract features with reasonable discrimination capability, since the network was trained with huge amount of images from big categories. We carry out experiments with a dataset named "DogCentric Activity Dataset", and we show the effectiveness of the extracted features.. |
| 74. |
Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, The Outdoor LiDAR Dataset for Semantic Place Labeling, The 2015 JSME/RMD International Conference on Advanced Mechatronics (ICAM2015), 2015.12. |
| 75. |
Asamichi Takamine, Yumi Iwashita, Ryo Kurazume, First-Person Activity Recognition with C3D Features from Optical Flow Images, 2015 IEEE/SICE International Symposium on System Integration (SII 2015), 2015.12. |
| 76. |
Ghallabi Farouk, Akihiro Kawamura, Yoonseok Pyo, Tokuo Tsuji, Kurazume Ryo, Control Architecture for Service Drone in Informationally Structured Environment, 2015 IEEE/SICE International Symposium on System Integration (SII 2015), 2015.12. |
| 77. |
Souichiro Oshima, Shingo Nagakura, Jeong Yongjin, Akihiro Kawamura, Yumi Iwashita, Ryo Kurazume, Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system, IEEE International Conference on Intelligent Robots and Systems, 10.1109/IROS.2015.7354007, 2015-December, 4437-4444, 2015.12, © 2015 IEEE. In recent years, several low-cost 3D laser scanners are being brought to the market and 3D laser scanning is becoming widely used in many fields. For example, 3D modeling of architectural structures or digital preservation of cultural heritages are typical applications for 3D laser scanning. Despite of the development of light-weight and high-speed laser scanners, however, the complicated measurement procedure and long measurement time are still a heavy burden for the widespread use of laser scanning. We have proposed a robotic 3D scanning system using multiple robots named CPS-SLAM, which consists of parent robots with a 3D laser scanner and child robots with target markers. In this system, a large-scale 3D model can be acquired by an on-board 3D laser scanner on a parent robot from several positions determined precisely by the localization technique using multiple robots named Cooperative Positioning System, CPS. Therefore, this system enables to build a 3D model without complicated post-processing procedures such as ICP. In addition, this system is an open-loop SLAM system and a quite precise 3D model can be obtained without closed loops. This paper proposes an automatic planning technique of a laser measurement for CPS-SLAM. By planning a proper scanning strategy depending on a target structure, it is possible to perform laser scanning efficiently and accurately even for a large-scale and complex environment. Proposed technique plans an efficient scanning strategy automatically by taking account of several criteria, such as visibility between robots, error accumulation, and efficient traveling. We conducted computer simulations and outdoor experiments to verify the performance of the proposed technique.. |
| 78. |
Kazuto Nakashima, Yumi Iwashita, Pyo Yoonseok, Asamichi Takamine, Ryo Kurazume, Fourth-person sensing for a service robot, 2015 IEEE SENSORS - Proceedings, 10.1109/ICSENS.2015.7370461, 1110-1113, 2015.12, © 2015 IEEE. This paper proposes a new concept named "fourth-person sensing" for a service robot. The proposed concept combines wearable sensors (the first-person viewpoint), sensors mounted on robots (the second-person viewpoint), and sensors embedded in the environment (the third-person viewpoint), and the disadvantages in individual sensors are compensated by combining sensory information from the first, second, and third-person viewpoints. The fourth-person sensing is effective to understand a user's intention and a context of the scene, thus it enables to provide a proper service by a service robot. As one of applications of the fourth-person sensing, we develop a HCI system combining the first-person and the third-person sensing, and show the effectiveness of the proposed concept through robot service experiments.. |
| 79. |
Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Ken'Ichi Morooka, Ryo Kurazume, Grasp stability evaluation based on energy tolerance in potential field, IEEE International Conference on Intelligent Robots and Systems, 10.1109/IROS.2015.7353688, 2015-December, 2311-2316, 2015.12, © 2015 IEEE. We propose an evaluation method of grasp stability which takes into account the elastic deformation of fingertips from the viewpoint of energy. An evaluation value of grasp stability is derived as the minimum energy which causes slippage of a fingertip on its contact surface. To formulate the evaluation value, the elastic potential energy of fingertips and the gravitational potential energy of a grasped object are considered. It is ensured that fingertips do not slip on grasped object surfaces if the external energy applied to the object is less than the evaluation value. Since our evaluation value explicitly considers the deformation values of fingertips, grasp stability is evaluated by taking into consideration the contact forces generated by the deformation. The effectiveness of our method is verified through numerical examples.. |
| 80. |
Yoonseok Pyo, Kouhei Nakashima, Shunya Kuwahata, Ryo Kurazume, Tokuo Tsuji, Ken'ichi Morooka, Tsutomu Hasegawa, Service robot system with an informationally structured environment, Robotics and Autonomous Systems, 10.1016/j.robot.2015.07.010, 74, 148-165, 2015.12, © 2015 The Authors Daily life assistance is one of the most important applications for service robots. For comfortable assistance, service robots must recognize the surrounding conditions correctly, including human motion, the position of objects, and obstacles. However, since the everyday environment is complex and unpredictable, it is almost impossible to sense all of the necessary information using only a robot and sensors attached to it. In order to realize a service robot for daily life assistance, we have been developing an informationally structured environment using distributed sensors embedded in the environment. The present paper introduces a service robot system with an informationally structured environment referred to the ROS–TMS. This system enables the integration of various data from distributed sensors, as well as storage of these data in an on-line database and the planning of the service motion of a robot using real-time information about the surroundings. In addition, we discuss experiments such as detection and fetch-and-give tasks using the developed real environment and robot.. |
| 81. |
Kazuto Nakashima, Yumi Iwashita, Yoonseok Pyo, Asamichi Takamine, Kurazume Ryo, Fourth-Person Sensing for a Service Robot, Proc. of IEEE International Conference on Sensors 2015, 2015.11. |
| 82. |
Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, KEN'ICHI MOROOKA, Kurazume Ryo, Grasp Stability Evaluation based on Energy Tolerance in Potential Field, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), 2015.10. |
| 83. |
Souichiro Oshima, Shingo Nagakura, Yongjin Jeong, Yumi Iwashita, Kurazume Ryo, Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), 2015.10. |
| 84. |
Yoonseok Pyo, Kouhei Nakashima, Shunya Kuwahata, Kurazume Ryo, Tokuo Tsuji, KEN'ICHI MOROOKA, Tsutomu Hasegawa, Service Robot System with an Informationally Structured Environment, Robotics and Autonomous Systems, 2015.10. |
| 85. |
Yumi Iwashita, Kurazume Ryo, Stable image registration for people tracking from the sky, Int. Conf. on Emerging Security Technologies, 2015.09. |
| 86. |
Yumi Iwashita, Hitoshi Sakano, Ryo Kurazume, Gait Recognition Robust to Speed Transition using Mutual Subspace Method, 18th International Conference on Image Analysis and Processing, 2015.09. |
| 87. |
Yuki Takabayashi, Yasushi Obata, Ryo Kurazume, Altitude estimation using particle filter with monopulse radars in a multipath environment, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 10.1109/AIM.2015.7222532, 2015-August, 202-207, 2015.08, © 2015 IEEE. The problem of multipath propagation in the tracking low-altitude targets with a radar is addressed. It is well known that multipath fading causes bias errors to the target altitude over the sea. Since the bias error caused by multipath propagation depends on a large number of parameters such as the frequency of the radar waveform, the actual target altitude, and range, it is difficult to estimate the bias errors. In this paper, we propose an altitude estimation method using particle filter and multipath propagation model. The performance of the proposed method is verified through computer simulations.. |
| 88. |
Yoonseok Pyo, Tokuo Tsuji, Yuuka Hashiguchi, Ryo Kurazume, Immersive VR interface for informationally structured environment, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 10.1109/AIM.2015.7222802, 2015-August, 1766-1771, 2015.08, © 2015 IEEE. This paper presents a new immersive VR interface bridging cyber and physical worlds for Cyber Physical System (CPS). Informationaly structured environment (ISE) has been proposed in service robotics so far. In ISE, environmental information such as positions of objects, furniture, humans, and robots is gathered by embedded sensor networks and stored in a database structurally. A service robot is able to utilize these information anytime and anywhere by connecting to the network. In this paper, we introduce the ISE architecture named ROS-TMS and a new cyber-physical interface for ROS-TMS. The proposed system consists of an immersive wearable display, a stereo camera, an optical tracking system, and an environmental simulator, and is able to present forecasted images with high reality based on the structured information in ISE.. |
| 89. |
Yoonseok Pyo, Kouhei Nakashima, Tokuo Tsuji, Ryo Kurazume, Ken'Ichi Morooka, Motion planning for fetch-and-give task using wagon and service robot, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 10.1109/AIM.2015.7222657, 2015-August, 925-932, 2015.08, © 2015 IEEE. Daily life assistance for elderly individuals in hospitals and care facilities is one of the most urgent and promising applications for service robots. Especially, a fetch-and-give task is a frequent and fundamental task for service robots to assist elderlys daily life. In hospitals and care facilities, this task is often performed with a movable platform such as a wagon or a cart to carry and deliver a large amount of objects at once. Thus the navigation and control of not only a service robot but also a movable platform must be planned safely. In addition, a robot motion planning to hand over an object to a person safely and comfortably according to his/her posture is also an important problem in this task, however this has not been discussed so much. In this work, we present a coordinate motion planning technique for a fetch-and-give task using a wagon and a service robot. Handover motion is also planned by considering the manipulability of both a robot and a person. Experiments of a fetch-and-give task using a service robot are successfully carried out.. |
| 90. |
Tokuo Tsuji, Oscar Martinez Mozos, Hyunuk Chae, Yoonseok Pyo, Kazuya Kusaka, Tsutomu Hasegawa, Ken’Ichi Morooka, Ryo Kurazume, An informationally structured room for robotic assistance, Sensors (Switzerland), 10.3390/s150409438, 15, 4, 9438-9465, 2015.04, © 2015 by the authors. The application of assistive technologies for elderly people is one of the most promising and interesting scenarios for intelligent technologies in the present and near future. Moreover, the improvement of the quality of life for the elderly is one of the first priorities in modern countries and societies. In this work, we present an informationally structured room that is aimed at supporting the daily life activities of elderly people. This room integrates different sensor modalities in a natural and non-invasive way inside the environment. The information gathered by the sensors is processed and sent to a centralized management system, which makes it available to a service robot assisting the people. One important restriction of our intelligent room is reducing as much as possible any interference with daily activities. Finally, this paper presents several experiments and situations using our intelligent environment in cooperation with our service robot.. |
| 91. |
Makoto Shinzaki, Yumi Iwashita, Ryo Kurazume, Koichi Ogawara, Gait-based person identification method using shadow biometrics for robustness to changes in the walking direction, Proceedings - 2015 IEEE Winter Conference on Applications of Computer Vision, WACV 2015, 10.1109/WACV.2015.95, 670-677, 2015.02, © 2015 IEEE. Person recognition from gait images is generally not robust to changes in appearance, such as variations of the walking direction. In general conventional methods have focused on training a model to transform gait features or gait images to those at a different viewpoint, but the performance gets worse in case the model is not trained at a viewpoint of a subject. In this paper we propose a novel gait recognition approach which differs a lot from existing approaches in that the subject's sequential 3D models and his/her motion are directly reconstructed from captured images, and arbitrary viewpoint images are synthesized from the reconstructed 3D models for the purpose of gait recognition robust to changes in the walking direction. Moreover, we propose a gait feature, named Frame Difference Frieze Pattern (FDFP), which is robust to high frequency noise. The efficiency of the proposed method is demonstrated through experiments using a database that includes 41 subjects.. |
| 92. |
Makoto Shinzaki, Yumi Iwashita, Koichi Ogawara, Ryo Kurazume, Gait-based person identification method using shadow biometrics for robustness to changes in the walking direction
, IEEE Winter Conference on Applications of Conputer Vision 2015 (WACV), 2015.01. |
| 93. |
Tokuo Tsuji, Oscar Martinez Mozos, Hyunuk Chae, YoonSeok Pyo, Kazuya Kusaka, 長谷川 勉, KEN'ICHI MOROOKA, Ryo Kurazume, The Informationally Structured Room for Robotic Assistancey, Sensors, 2015.01. |
| 94. |
Tokuo Tsuji, Kosei Baba, KEN'ICHI MOROOKA, Kensuke Harada, Kenji Tahara, Kurazume Ryo, Grasp Stability Evaluation for Elastic Fingertips by using Potential Energy Field, 2014 IEEE/SICE International Symposium on System Integration, 2014.12. |
| 95. |
Shuji Oishi, Kurazume Ryo, Manual/Automatic Colorization for Three-Dimensional Geometric Models utilizing Laser Reflectivity, Advanced Robotics, 10.1080/01691864.2014.968616, 2014.12. |
| 96. |
Yumi Iwashita, Asamichi Takamine, Ryo Kurazume, M. S. Ryoo, First-person animal activity recognition from egocentric videos, Proceedings - International Conference on Pattern Recognition, 10.1109/ICPR.2014.739, 4310-4315, 2014.12, © 2014 IEEE. This paper introduces the concept of first-person animal activity recognition, the problem of recognizing activities from a view-point of an animal (e.g., a dog). Similar to first-person activity recognition scenarios where humans wear cameras, our approach estimates activities performed by an animal wearing a camera. This enables monitoring and understanding of natural animal behaviors even when there are no people around them. Its applications include automated logging of animal behaviors for medical/biology experiments, monitoring of pets, and investigation of wildlife patterns. In this paper, we construct a new dataset composed of first-person animal videos obtained by mounting a camera on each of the four pet dogs. Our new dataset consists of 10 activities containing a heavy/fair amount of ego-motion. We implemented multiple baseline approaches to recognize activities from such videos while utilizing multiple types of global/local motion features. Animal ego-actions as well as human-animal interactions are recognized with the baseline approaches, and we discuss experimental results.. |
| 97. |
Yumi Iwashita, Kazuto Nakashima, Yoonseok Pyo, Ryo Kurazume, Fourth-person sensing for pro-active services, Proceedings - 2014 International Conference on Emerging Security Technologies, EST 2014, 10.1109/EST.2014.17, 113-117, 2014.12, © 2014 IEEE. Service robots, which co-exist with humans to provide various services, obtain information from sensors placed in an environment and/or sensors mounted on robots. In this paper we newly propose the concept of fourth-person sensing which combines wearable cameras (first-person sensing), sensors mounted on robots (second-person sensing), and distributed sensors in the environment (third-person sensing). The proposed concept takes advantages of all three sensing systems, while removing disadvantage of each of them. The first-person sensing can analyze what a person wearing a camera is doing and details around him/her, so the fourth-person sensing has chance to provide pro-active services, which are triggered by predicted human intention and difficult with the second- and third-person systems, by estimating his intention/behavior. We introduce an example scenario using the fourth-person sensing and show the effectiveness of the proposed concept through experiments.. |
| 98. |
Yumi Iwashita, Ryo Kurazume, Adrian Stoica, Gait identification using invisible shadows: Robustness to appearance changes, Proceedings - 2014 International Conference on Emerging Security Technologies, EST 2014, 10.1109/EST.2014.18, 34-39, 2014.12, © 2014 IEEE. This paper presents a person identification technique that uses information from person's shadow, and is robust to appearance changes caused by variations of clothes and carried objects. The technique uses invisible lights and resulting shadows and has advantages from undetected sensing. The shadows on the ground obtained through illumination by multiple lights can be considered as silhouettes captured by multiple virtual cameras placed at light positions. Thus, a single camera, e.g. in the ceiling, is able to obtain multiple silhouettes, equivalent to a multi-camera system. If the person's appearance changes compared to the training cases in the database, e.g. by wearing different clothes or carrying a/another bag, then the identification performance gets worse. To deal with this problem, we introduce a new shadow-based identification technique robust to appearance changes. Firstly, we divide each shadow area into several parts, and estimate the discrimination capability for each part based on gait features between gallery datasets and probe dataset. Next, according to the estimated capability, we adaptively control the priorities of these parts in the person identification method. We constructed a new shadow database with a variety of clothes and bags, and carried out successful experiments to verify the effectiveness of the proposed technique.. |
| 99. |
Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, Indoor place categorization using co-occurrences of LBPs in gray and depth images from RGB-D sensors, Proceedings - 2014 International Conference on Emerging Security Technologies, EST 2014, 10.1109/EST.2014.23, 40-45, 2014.12, © 2014 IEEE. Indoor place categorization is an important capability for service robots working and interacting in human environments. This paper presents a new place categorization method which uses information about the spatial correlation between the different image modalities provided by RGB-D sensors. Our approach applies co-occurrence histograms of local binary patterns (LBPs) from gray and depth images that correspond to the same indoor scene. The resulting histograms are used as feature vectors in a supervised classifier. Our experimental results show the effectiveness of our method to categorize indoor places using RGB-D cameras.. |
| 100. |
Shuji Oishi, Ryo Kurazume, Manual/automatic colorization for three-dimensional geometric models utilizing laser reflectivity, Advanced Robotics, 10.1080/01691864.2014.968616, 28, 24, 1637-1651, 2014.12, © 2014 Taylor & Francis and The Robotics Society of Japan. While laser scanners can produce a high-precision 3D shape of a real object, appearance information of the object has to be captured by an image sensor, such as a digital camera. This paper proposes a novel and simple technique for colorizing 3D geometric models based on laser reflectivity. Laser scanners capture the range data of a target object from the sensors. Simultaneously, the power of the reflected laser is obtained as a by-product of the range data. The reflectance image, which is a collection of laser reflectance depicted as a grayscale image, contains rich appearance information about the target object. The proposed technique is an alternative to texture mapping, which has been widely used to realize photo-realistic 3D modeling but requires strict alignment between range data and texture images. The proposed technique first colorizes a reflectance image based on the similarity of color and reflectance images. Then the appearance information (color and texture information) is added to a 3D model by transferring the color in the colorized reflectance image to the corresponding range image. Some experiments and comparisons between texture mapping and the proposed technique demonstrate the validity of the proposed technique.. |
| 101. |
Kaoru Kobayashi, Ken'Ich Morooka, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume, Kazuhiro Samura, Estimation of brain internal structures by deforming brain atlas using finite element method, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014, 10.1109/EMBC.2014.6944886, 2014, 5558-5561, 2014.11, © 2014 IEEE. This paper presents a method for estimating the internal structures of a patient brain by deforming a standard brain atlas. Conventional deformation methods need several landmarks from the brain surface contour to fit the atlas to the patient brain shape. However, since the number and shapes of small sulci on the brain surface are different from each other, the determination of the accurate correspondence between small sulcus is difficult for experienced neurosurgeons. Moreover, the relationship between the surface shape and internal structure of the brain is unclear. Therefore, even if the deformed atlas is fitted to the patient brain shape exactly, the use of the deformed atlas does not always guarantee the reliable estimation of the internal structure of the patient brain. To solve these problems, we propose a new method for estimate the internal structure of a patient brain by the finite element method (FEM). In the deformation, our method select the landmarks from the contours of both the brain surface and the detectable internal structures from MR images.. |
| 102. |
Hojung Jung, Ryo Kurazume, Yumi Iwashita, Oscar Martinez Mozos, Two-Dimensional Local Ternary Patterns using Synchronized Images for Outdoor Place Categorization, IEEE International Conference on Image Processing 2014, 2014.10. |
| 103. |
Yumi Iwashita, Koichi Ogawara, Ryo Kurazume, Identification of people walking along curved trajectories, Pattern Recognition Letters, 10.1016/j.patrec.2014.04.004, 48, 15, 60-69, 2014.10. |
| 104. |
Ken'ichi Morooka, Yuanting Ji, Oscar Martinez Mozos, Tokuo Tsuji, Ryo Kurazume, Peter K. Ahnelt, A method for identifying distribution pattern of cone cells in retina image, World Automation Congress Proceedings, 10.1109/WAC.2014.6936144, 774-778, 2014.10, © 2014 TSI Press. This paper proposes a method to identify the spatial distribution patterns of cone cells related with blood vessel in a given retina image. We define three types of the distribution patterns between cones and vessels. Positive correlation distribution (PCD) and negative correlation distribution (NCD) indicate that the cones tend to be close to or far from the vessels. While the cone cells do not have significant correlation with vessels, the cone distribution is regarded as the random distribution (RD). In our method, RD is modeled by many virtual retina images, each of which is generated by the vessels extracted from the original retina image and the virtual cells are selected randomly from the image. Using the virtual images, we estimate the distribution range of RD. When the distribution of the original cells is above the upper limit or below the lower limit of the RD distribution, the cell distribution is NCD or PCD. Otherwise, the cell distribution is regarded as RD.. |
| 105. |
Tokuo Tsuji, Soichiro Uto, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa, Ken'Ichi Morooka, Grasp planning for constricted parts of objects approximated with quadric surfaces, IEEE International Conference on Intelligent Robots and Systems, 10.1109/IROS.2014.6942895, 2447-2453, 2014.10, © 2014 IEEE. This paper presents a grasp planner which allows a robot to grasp the constricted parts of objects in our daily life. Even though constricted parts can be grasped more firmly than convex parts, previous planners have not sufficiently focused on grasping this part. We develop techniques for quadric surface approximation, grasp posture generation, and stability evaluation for grasping constricted parts. By modeling an object into multiple quadric surfaces, the planner generates a grasping posture by selecting one-sheet hyperbolic surfaces or two adjacent ellipsoids as constricted parts. When a grasping posture being generated, the grasp stability is evaluated based on the distribution of the stress applied to an object by the fingers. We perform several simulations and experiments to verify the effectiveness of our proposed method.. |
| 106. |
Yumi Iwashita, Koichi Ogawara, Ryo Kurazume, Identification of people walking along curved trajectories, Pattern Recognition Letters, 10.1016/j.patrec.2014.04.004, 48, 60-69, 2014.10, Conventional methods of gait analysis for person identification use features extracted from a sequence of camera images taken during one or more gait cycles. The walking direction is implicitly assumed not to change. However, with the exception of very particular cases, such as walking on a circle centered on the camera, or along a line passing through the camera, there is always some degree of orientation change, most pronounced when the person is closer to the camera. This change in the angle between the velocity vector and the position vector in respect to the camera causes a decrease in performance for conventional methods. To address this issue we propose in this paper a new method, which provides improved identification in this context of orientation change. The proposed method uses a 4D gait database consisting of multiple 3D shape models of walking people and adaptive virtual image synthesis with high accuracy. Each frame, for the duration of a gait cycle, is used to estimate the walking direction of the subject, and a virtual image corresponding to the estimated direction is synthesized from the 4D gait database. The identification uses affine moment invariants as gait features. The efficiency of the proposed method is demonstrated through experiments using a database that includes 42 subjects. © 2014 Elsevier B.V. All rights reserved.. |
| 107. |
Masanori Ishibashi, Yumi Iwashita, Ryo Kurazume, Noise-estimate Particle PHD filter, World Automation Congress Proceedings, 10.1109/WAC.2014.6936154, 784-789, 2014.10, © 2014 TSI Press. This paper proposes a new radar tracking filter named Noise-estimate Particle PHD Filter (NP-PHDF). Kalman filter and particle filter are popular filtering techniques for target tracking. However, the tracking performance of the Kalman filter severely depends on the setting of several parameters such as system noise and observation noise. It is an open problem how to choose proper parameters for various scenarios, and they are often regulated in trial-and-error manner. To tackle this problem, Noise-estimate Particle Filter (NPF) has been proposed so far. The NPF estimates proper noise parameters of a Kalman filter on-line based on a scheme of particle filter. In this paper, we extend the NPF so that it enables to track multiple targets simultaneously by combining with Probability Hypothesis Density (PHD) filter, and propose a new Noise-estimate Particle PHD Filter (NP-PHDF). Simulation results show that the proposed filter has higher tracking performance in various scenarios than conventional Kalman filter, particle filter, and PHD filter for multiple-targets tracking.. |
| 108. |
Yumi Iwashita, Kazuto Nakashima, Yoonseok Pyo, Ryo Kurazume, Fourth-person sensing for pro-active services, Fifth International Conference on Emerging Security Technologies (EST-2014), 2014.09. |
| 109. |
Yumi Iwashita, Ryo Kurazume, Adrian Stoica, Gait identification using invisible shadows: robustness to appearance changes, Fifth International Conference on Emerging Security Technologies (EST-2014), 2014.09. |
| 110. |
Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, Indoor Place Categorization using Co-Occurrences of LBPs in Gray and Depth Images from RGB-D Sensors, Fifth International Conference on Emerging Security Technologies (EST-2014), 2014.09. |
| 111. |
Shoko Miyauchi, MOROOKA KEN'ICHI, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Kurazume Ryo, Area- and Angle-Preserving Parameterization for Vertebra Surface Mesh, 2nd MICCAI Workshop & Challenge Computational Methods and Clinical Applications for Spine Imaging, 2014.09. |
| 112. |
Tokuo Tsuji, Soichiro Uto, Kensuke Harada, Kurazume Ryo, Tsutomu Hasegawa, KEN'ICHI MOROOKA, Grasp Planning for Constricted Parts of Objects Approximated with Quadric Surfaces, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.09. |
| 113. |
Yuanting Ji, KEN'ICHI MOROOKA, Oscar Martinez Mozos, Tokuo Tsuji, Ryo Kurazume, Peter K. Ahnel, A Method to Identifying Distribution Pattern of Corn Cells in Retina Image, 2014 World Automation Congress (WAC) - ISORA 2014, 2014.08. |
| 114. |
Masanori Ishibashi, Yumi Iwashita, Ryo Kurazume, Noise-Estimate Particle PHD filter, 2014 World Automation Congress (WAC) - ISORA 2014, 2014.08. |
| 115. |
Yumi Iwashita, Asamichi Takamine, Ryo Kurazume, Michael S. Ryoo, First-Person Animal Activity Recognition from Egocentric Videos, 22nd International Conference on Pattern Recognition (ICPR 2014), 2014.08. |
| 116. |
小林 薫樹, KEN'ICHI MOROOKA, 宮城 靖, 福田 孝一, Tokuo Tsuji, Ryo Kurazume, Kazuhiro Samura, Estimation of Brain Internal Structures by Deforming Brain Atlas Using Finite Element Method, 36th Annual International IEEE EMBS Conference, 2014.08. |
| 117. |
Yumi Iwashita, Asamichi Takamine, Ryo Kurazume, Michael S. Ryoo, First-Person Activity Recognition from Animal Videos, 3rd Workshop on Egocentric (First-person) Vision in CVPR 2014, 2014.06. |
| 118. |
SASAKI Shou, MOROOKA Ken'ichi, KOBAYASHI Kaoru, TSUJI Tokuo, MIYAGI Yasushi, FUKUDA Takaichi, SAMURA Kazuhiro, KURAZUME Ryo, 3D Model Generation of Brain Block Using Internal Structure Contours for 3D Japanese Brain Atlas Construction (Medical Imaging), 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 114, 103, 1-6, 2014.06, The digital human modeling is one of the challenging topics in the last few decades. We have been studying on the digital brain atlas of Japanese. Our system for generating the brain atlas uses the latest techniques in both human anatomy and computer science. This paper reports the detail of generating the brain model by the 3D contour models of the brain surface and internal neural structures. Especially, we propose a new method for registering two sub-block models of the brain by combining a nonrigid registration and dynamic programming.. |
| 119. |
A Method for Reconstructing 3D Tissue Shapes from Stereo Endoscopic Images Using Wide-Range Edge. |
| 120. |
Yoonseok Pyo, Tsutomu Hasegawa, Tokuo Tsuji, Ryo Kurazume, Ken'ichi Morooka, Floor sensing system using laser reflectivity for localizing everyday objects and robot, Sensors (Switzerland), 10.3390/s140407524, 14, 4, 7524-7540, 2014.04, This paper describes a new method of measuring the position of everyday objects and a robot on the floor using distance and reflectance acquired by laser range finder (LRF). The information obtained by this method is important for a service robot working in a human daily life environment. Our method uses only one LRF together with a mirror installed on the wall. Moreover, since the area of sensing is limited to a LRF scanning plane parallel to the floor and just a few centimeters above the floor, the scanning covers the whole room with minimal invasion of privacy of a resident, and occlusion problem is mitigated by using mirror. We use the reflection intensity and position information obtained from the target surface. Although it is not possible to identify all objects by additionally using reflection values, it would be easier to identify unknown objects if we can eliminate easily identifiable objects by reflectance. In addition, we propose a method for measuring the robot's pose using the tag which has the encoded reflection pattern optically identified by the LRF. Our experimental results validate the effectiveness of the proposed method. © 2014 by the authors; licensee MDPI, Basel, Switzerland.. |
| 121. |
Masanori Ishibashi, Yumi Iwashita, Ryo Kurazume, Adaptive Target Tracking by Noise-Estimated Particle filter, 20th Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV2014), 2014.02. |
| 122. |
Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Ken'Ichi Morooka, Ryo Kurazume, Grasp stability analysis for elastic fingertips by using potential energy, 2014 IEEE/SICE International Symposium on System Integration, SII 2014, 10.1109/SII.2014.7028081, 453-458, 2014.01, © 2014 IEEE. We propose a grasp stability index which takes into account the elastic deformation of fingertips. In this index, an evaluation value of grasp stability is derived as the minimum energy which causes slippage of a fingertip on a grasped object surface. Elastic potential energy of the fingertips and gravitational potential energy of the object are considered in this index. It is ensured that any fingertip does not slip on a grasped object surface if the external energy added to the object is less than the evaluation value. This index has good features as follows. (i) Contact forces corresponding to the grasping state are taken into account. (ii) It is possible to derive a condition of stable grasp including the kinetic energy of a grasped object. The effectiveness of this index is verified through several numerical examples.. |
| 123. |
Hojung Jung, Ryo Kurazume, Yumi Iwashita, Oscar Martinez Mozos, Two-dimensional local ternary patterns using synchronized images for outdoor place categorization, 2014 IEEE International Conference on Image Processing, ICIP 2014, 10.1109/ICIP.2014.7026158, 5726-5730, 2014.01, © 2014 IEEE. We present a novel approach for outdoor place categorization using synchronized texture and depth images obtained using a laser scanner. Categorizing outdoor places according to type is useful for autonomous driving or service robots, which work adaptively according to the surrounding conditions. However, place categorization is not straight forward due to the wide variety of environments and sensor performance limitations. In the present paper, we introduce a two-dimensional local ternary pattern (2D-LTP) descriptor using a pair of synchronized texture and depth images. The proposed 2D-LTP describes the local co-occurrence of a synchronized and complementary image pair with ternary patterns. In the present study, we construct histograms of a 2D-LTP as a feature of an outdoor place and apply singular value decomposition (SVD) to deal with the high dimensionality of the place. The novel descriptor, i.e., the 2D-LTP, exhibits a higher categorization performance than conventional image descriptors with outdoor place experiments.. |
| 124. |
Soichiro Uto, Tokuo Tsuji, Kensuke Harada, Kurazume Ryo, Tsutomu Hasegawa, Grasp Planning using Quadric Surface Approximation for Parallel Grippers, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013.12. |
| 125. |
Shuji Oishi, Yongjin Jeong, Kurazume Ryo, Yumi Iwashita, Tsutomu Hasegawa, ND voxel localization using large-scale 3D environmental map and RGB-D camera, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013.12. |
| 126. |
Yoonseok Pyo, Tsutomu Hasegawa, Masahide Tanaka, Tokuo Tsuji, MOROOKA KEN'ICHI, Kurazume Ryo, Measurement and Estimation of Indoor Human Behavior of Everyday Life Based on Floor Sensing with Minimal Invasion of Privacy, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013.12. |
| 127. |
Oscar Martinez Mozos, Hitoshi Mizutani, Hojung Jung, Ryo Kurazume, Tsutomu Hasegawa, Categorization of indoor places by combining local binary pattern histograms of range and reflectance data from laser range finders, Advanced Robotics, 10.1080/01691864.2013.839091, 27, 18, 1455-1464, 2013.12, This paper presents an approach to categorize typical places in indoor environments using 3D scans provided by a laser range finder. Examples of such places are offices, laboratories, or kitchens. In our method, we combine the range and reflectance data from the laser scan for the final categorization of places. Range and reflectance images are transformed into histograms of local binary patterns and combined into a single feature vector. This vector is later classified using support vector machines. The results of the presented experiments demonstrate the capability of our technique to categorize indoor places with high accuracy. We also show that the combination of range and reflectance information improves the final categorization results in comparison with a single modality. © 2013 Taylor & Francis and The Robotics Society of Japan.. |
| 128. |
Size-Adaptive Hepatocellular Carcinoma Detection from 3-D CT Images Based on the Level Set Method
本論文では,CT画像を用いた,様々なサイズの原発性肝がん(以下,腫瘍)に対応可能な腫瘍検出法を報告する.従来,CT画像を用いた腫瘍検出では,1cm以上の腫瘍を自動検出する研究が盛んであり,これらの研究では2種類の異なる画像(動脈相,遅延相)が用いられてきた.このうち,遅延相は正確な腫瘍サイズ計測が可能であるが,コントラストが低いため1cm以下の小結節の検出が難しい.一方,動脈相では小結節検出が可能になるが,雑音と腫瘍の輝度値が類似しているため誤検出が生じやすい,という問題があった.そこで本論文では,様々なサイズの腫瘍が検出可能な動脈相を用いた腫瘍の自動検出法を提案する.提案手法では,複数腫瘍の自動検出を実現するため,腫瘍個数の事前知識が不要なLevel Set Methodを導入する.更に,低コントラストや雑音に対応した,新たな成長速度項を提案する.提案手法を臨床画像24症例に適用した結果,Sensitivity 90%以上,誤検出が1症例当り3.1個となり,従来のLevel Set Methodを用いた検出手法と比較して,検出精度が大幅に向上することを確認した.. |
| 129. |
Shuji Oishi, Kurazume Ryo, Iwashita Yumi, Hasegawa Tsutomu, Hole-free texture maping based on laser reflectivity, The International Conference on Image Processing (ICIP), 2013.09. |
| 130. |
Iwashita Yumi, Koji Uchin, Kurazume Ryo, Gait-based person identification robust to changes in appearance, Sensors, 2013.09. |
| 131. |
Shoko Miyauchi, MOROOKA KEN'ICHI, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Kurazume Ryo, Tissue surface model mapping onto arbitrary target surface based on self-organizing deformable model, 2013 4th Int. Conf. on Emerging Security Technologies, 79-82, 2013.09. |
| 132. |
Yumi Iwashita, Shuhei Takaki, MOROOKA KEN'ICHI, Tokuo Tsuji, Kurazume Ryo, Abnormal behavior detection using privacy protected videos, 2013 4th Int. Conf. on Emerging Security Technologies, 55-57, 2013.09. |
| 133. |
Shuji Oishi, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa, Range image smoothing and completion utilizing laser intensity, Advanced Robotics, 10.1080/01691864.2013.797141, 27, 12, 947-958, 2013.08, In this paper, we propose new denoising techniques for a deteriorated range image taken by a laser scanner. Laser scanner acquires a range value from the scanner to the target by measuring the round-trip time of the emitted laser pulse. At the same time, they can obtain the strength of the reflected light as a side product of the range value. Focusing on the laser intensity, we propose two denoising techniques for a deteriorated range image utilizing the intensity image: smoothing by extended bilateral filter, and completion by belief propagation. The extended bilateral filter makes use of laser intensity in addition to the spatial and range information in order that we can smooth a range image corrupted by noises while the geometric features such as jump and roof edges are preserved. The range image completion technique with belief propagation restores a deteriorated range image using the adjacent range values and the corresponding intensity values simultaneously. We conduct simulations and experiments using synthesized images and actual range images taken by a laser scanner and verify that the proposed techniques suppress noise while preserving jump and roof edges and repair deteriorated range images. © 2013 Taylor & Francis Group, LLC.. |
| 134. |
MOROOKA KEN'ICHI, Sonoki Shuji, Kurazume Ryo, Hasegawa Tsutomu, A Method for Estimating Patient Specific Parameters for Simulation of Tissue Deformation by Finite, The fifth International Workconference on the Interplay between Natural and Artificial Computation (IWINAC2013), 2013.06. |
| 135. |
MARTINEZ MOZOS OSCAR, Tsuji Tokuo, Chae Hyunuk, Kuwahata Shunya, Hasegawa Tsutomu, MOROOKA KEN'ICHI, Kurazume Ryo, The Intelligent Room for Elderly Care, The fifth International Workconference on the Interplay between Natural and Artificial Computation (IWINAC2013), 2013.06. |
| 136. |
Yumi Iwashita, Koji Uchino, Ryo Kurazume, Gait-based person identification robust to changes in appearance, Sensors (Switzerland), 10.3390/s130607884, 13, 6, 7884-7901, 2013.06, The identification of a person from gait images is generally sensitive to appearance changes, such as variations of clothes and belongings. One possibility to deal with this problem is to collect possible subjects' appearance changes in a database. However, it is almost impossible to predict all appearance changes in advance. In this paper, we propose a novel method, which allows robustly identifying people in spite of changes in appearance, without using a database of predicted appearance changes. In the proposed method, firstly, the human body image is divided into multiple areas, and features for each area are extracted. Next, a matching weight for each area is estimated based on the similarity between the extracted features and those in the database for standard clothes. Finally, the subject is identified by weighted integration of similarities in all areas. Experiments using the gait database CASIA show the best correct classification rate compared with conventional methods experiments. © 2013 by the authors; licensee MDPI, Basel, Switzerland.. |
| 137. |
Oishi Shuji, Kurazume Ryo, Iwashita Yumi, Hasegawa Tsutomu, Colorization of 3D Geometric Model utilizing Laser Reflectivity, Proc. IEEE International Conference on Robotics and Automation, 2013.05. |
| 138. |
Oishi Shuji, Kondo Naoaki, Iwashita Yumi, Kurazume Ryo, Object recognition by a laser scanner using multimodal information, 11th International Conference on Quality Control by Artificial Vision (QCAV), 2013.05. |
| 139. |
MOROOKA KEN'ICHI, Nakasuka Yosuke, Kurazume Ryo, Xian Chen, Iwashita Yumi, Hasegawa Tsutomu, Hashizume Makoto, Navigation System with Real-time Finite Element Analysis for Minimally Invasive Surgery, International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'13), 2013.05. |
| 140. |
Yumi Iwashita, Ryo Kurazume, et.al, , Expanding gait identification methods from straight to curved trajectories, Proc. of Workshop on the Applications of Computer Vision 2013 (WACV), Florida, Jan.17-18, 2013., 2013.01. |
| 141. |
Dong Xiang ZHANG, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa, Robust global localization using laser reflectivity, Journal of Robotics and Mechatronics, 25, 1, 2013.01. |
| 142. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume and Tsutomu Hasegawa, Robust Visual Servoing for Object Manipulation against Temporary Loss of Sensory Information using a Multi-Fingered Hand-Arm, Journal of Robotics and Mechatronics
, 25, 1, 2013.01. |
| 143. |
Shuji Oishi, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa, Range Image Smoothing and Completion utilizing Laser Intensity, Advanced Robotics, 2013.01. |
| 144. |
MARTINEZ MOZOS OSCAR, Mizutani Hiroshi, Kurazume Ryo, Hasegawa Tsutomu, Categorization of Indoor Places by Combining Local Binary Pattern Histograms of Range and Reflectance Data from Laser Range Finders, Advanced Robotics, 2013.01. |
| 145. |
Yumi Iwashita, Ryo Kurazume, Koichi Ogawara, Expanding gait identification methods from straight to curved trajectories, Proceedings of IEEE Workshop on Applications of Computer Vision, 10.1109/WACV.2013.6475018, 193-199, 2013.01, Conventional methods of gait analysis for person identification use features extracted from a sequence of camera images taken during one or more gait cycles. An implicit assumption is made that the walking direction does not change. However, cameras deployed in real-world environments (and often placed at corners) capture images of humans who walk on paths that, for a variety of reasons, such as turning corners or avoiding obstacles, are not straight but curved. This change of the direction of the velocity vector causes a decrease in performance for conventional methods. In this paper we address this aspect, and propose a method that offers improved identification results for people walking on curved trajectories. The large diversity of curved trajectories makes the collection of complete real world data infeasible. The proposed method utilizes a 4D gait database consisting of multiple 3D shape models of walking subjects and adaptive virtual image synthesis. Each frame, for the duration of a gait cycle, is used to estimate a walking direction for the subject, and consequently a virtual image corresponding to this estimated direction is synthesized from the 4D gait database. The identification uses affine moment invariants as gait features. Experiments using the 4D gait database of 21 subjects show that the proposed method has a higher recognition performance than conventional methods. © 2013 IEEE.. |
| 146. |
Ken Endou, Takafumi Ikenoya, Ryo Kurazume, Development of 3D scanning system using automatic guiding total station, Journal of Robotics and Mechatronics
, 25, 1, 992-999, Vol.24, No.6, 2012
, 2012.12. |
| 147. |
Yongjin Jeong, Ryo Kurazume, Yoonseok Pyo, Yumi Iwashita, Tsutomu Hasegawa, , High-Precision Three-Dimensional Laser Measurement System by Cooperative Multiple Mobile Robots, 2012 IEEE/SICE International Symposium on System Integration (SII2011), Fukuoka, 2012.12.16-18, 2012
, 2012.12. |
| 148. |
Ken Endou, Takafumi Ikenoya, Ryo Kurazume, Development of 3D scanning system using automatic guiding total station, Journal of Robotics and Mechatronics, 10.20965/jrm.2012.p0992, 24, 6, 992-999, 2012.12, Techniques for creating 3D shape model are expected to be applied to as-built management for structures under construction. However, common techniques currently widely used, still have lacks in usability and accuracy, hence still haven't reached the stage of actual use in the field. Due to the above circumstance, the authors have developed a 3D tunnel shape scanning system that uses a moving platform and auto tracking total station. The system provides improved usability and accuracy. Using the developed system, we have carried out a verification experiment in a mock tunnel, and we confirmed the possibility of real-time evaluation and the system'smeasuring accuracy under actual conditions. We also carried out measurements on three actual tunnel sites. We confirmed that it is fully capable of measurements not only in favorable environments but also in harsh environments, such as in tunnels that are under construction.. |
| 149. |
Yumi Iwashita, Adrian Stoica, Ryo Kurazume, Gait identification using shadow biometrics, Pattern Recognition Letters, 10.1016/j.patrec.2012.07.022, 33, 16, 2148-2155, 2012.12, We propose a novel biometrics method based on shadows (shadow biometrics, SB) and introduce a SB-based person identification method for a vision-based surveillance system. Conventional biometric identification based on body movements, as is the case in gait recognition, uses cameras that provide a good view of entire human body. Aerial search and surveillance systems only see the human body from top view with a smaller cross-section and with less details than seen in side views, which is further aggravated by the lower resolution associated with this imagery. Shadows, i.e. body projections due to the Sun, or artificial lights at night, can offer body biometrics information that cannot be directly seen in body top view. In this paper we use SB for person identification, automatically extracting shadows in captured video images, and processing them to extract gait features, further analyzed by spherical harmonics. We demonstrate shadow-based person identification in experiments inside a building using artificial light and outside under the Sun. The introduced method using spherical harmonics outperforms methods based on Fourier transform, gait energy image, and active energy image. Furthermore, we show that the combination of body and shadow areas, as seen from an oblique camera on an upper floor of a building, has better performance than using body only or shadow only information. © 2012 Elsevier B.V. All rights reserved.. |
| 150. |
Kaoru Kobayashi, Ken'ichi Morooka, Yasushi Miyagi, Kazuhiro Samura, Ryo Kurazume, Tsutomu Hasegawa, Patient-specific atlas construction by deforming paxinos's atlas to patient images, International Forum on Medical Imaging in Asia 2012, Korea, Nov. 16-17, 2012, 2012.11. |
| 151. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume and Tsutomu Hasegawa, Dynamic Grasping of an Arbitrary Polyhedral Object, Robotica, 2012.10. |
| 152. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa, Robust Visual Servoing for Object Manipulation with Large Time-Delays of Visual Information, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), 2012.10. |
| 153. |
Kenji Tahara, Yuta Kuboyama, Ryo Kurazume,, Iterative Learning Control for a Musculoskeletal Arm: Utilizing Multiple Space Variables to Improve the Robustness, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), 2012.10. |
| 154. |
Yumi Iwashita, Adrian Stoica, Ryo Kurazume
, Gait identification using shadow biometrics, Pattern Recognition Letters, 2012.10. |
| 155. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa, Dynamic grasping of an arbitrary polyhedral object, Robotica, 10.1017/S0263574712000525, 34, 6, 511-523, 2012.10, © 2012 Cambridge University Press. This paper proposes a novel dynamic stable grasping method of an arbitrary polyhedral object for a hand-arm system with hemispherical fingertips. This method makes it possible to satisfy the force/torque equilibrium condition for the immobilization of the object without knowledge of the object. Two control signals are proposed which generate grasping forces normal and tangential to an object surface in a final state. The dynamics of the overall system is modeled and analyzed theoretically. We demonstrate the stable grasping of an arbitrary polyhedral object using the proposed controller through numerical simulations and experiments using a newly developed mechanical hand-arm system.. |
| 156. |
Yumi Iwashita, Adrian Stoica, Ryo Kurazume, Finding People by their Shadows: Aerial Surveillance Using Body Biometrics Extracted from Ground Video, 2012 Third International Conference on Emerging Security Technologies (EST 2012), 43-48, Lisbon, Portugal, September 5-7, 2012., 2012.09. |
| 157. |
Kaoru Kobayashi, Ken'ichi Morooka, Yasushi Miyagi, Kazuhiro Samura, Ryo Kurazume, Tsutomu, Hasegawa, A Method for Mapping Brain Atlas to Patient Brain Structure by Least-Squares Mesh Method, 34th Annual International IEEE Engineering in Medicine and Biology Society, Aug. 28-Sep. 1, 2012, 2012.08. |
| 158. |
Ken'ichi Morooka, Tomoyuki Taguchi, Xian Chen, Ryo Kurazume, Makoto Hashizume, Tsutomu Hasegawa, An efficient construction of real-time FEM-based simulator for soft tissue deformation with large dataset, 16th Annual Conference of the International Society for Computer Aided Surgery, 2012.06. |
| 159. |
Kouji Murakami, Kazuya Matsuo, Tsutomu Hasegawa, Ryo Kurazume, Position Tracking and Recognition of Everyday Objects by using Sensors Embedded in an Environment and Mounted on Mobile Robots, in Proc. IEEE International Conference on Robotics and Automation, pp.-, Saint Paul, May 14-18, 2012, Saint Paul, May 14-18, 2012, 2012.05. |
| 160. |
DongXiang Zhang, Ryo Kurazume, Global Localization for a Mobile Robot Using Laser Reflectance and Particle Filter, システム情報科学紀要, 17, 1, 9-16, 2012.05. |
| 161. |
Oscar Martinez Mozos, Hitoshi Mizutani, Ryo Kurazume, Tsutomu Hasegawa, Categorization of indoor places using the Kinect sensor, Sensors (Switzerland), 10.3390/s120506695, 12, 5, 6695-6711, 2012.05, The categorization of places in indoor environments is an important capability for service robots working and interacting with humans. In this paper we present a method to categorize different areas in indoor environments using a mobile robot equipped with a Kinect camera. Our approach transforms depth and grey scale images taken at each place into histograms of local binary patterns (LBPs) whose dimensionality is further reduced following a uniform criterion. The histograms are then combined into a single feature vector which is categorized using a supervised method. In this work we compare the performance of support vector machines and random forests as supervised classifiers. Finally, we apply our technique to distinguish five different place categories: Corridors, laboratories, offices, kitchens, and study rooms. Experimental results show that we can categorize these places with high accuracy using our approach. © 2012 by the authors; licensee MDPI, Basel, Switzerland.. |
| 162. |
Dong Xiang Zhang, Ryo Kurazume, Global localization for a mobile robot using laser reflectance and particle filter, Research Reports on Information Science and Electrical Engineering of Kyushu University, 10.15017/21947, 17, 1, 9-16, 2012.05, Global localization is a fundamental requirement for a mobile robot. Map-based global localization is a popular technique and gives a precise position by comparing a provided geometric map and current sensory data. However, it is quite time-consuming if 3D range data is processed for 6D global localization. On the other hand, appearance-based global localization using a captured image and recorded images is simple and suitable for real-time processing. However, this technique does not work in the dark or in an environment in which the lighting conditions change remarkably. To cope with these problems, we have proposed a two-step strategy which combines map-based global localization and appearance-based global localization. Firstly, several candidate positions are selected according to an appearance-based technique, and then the optimum position is determined by a map-based technique. Instead of camera images, we use reflectance images, which are captured by a laser range finder as a by-product of range sensing. In this paper, a new technique based on this global localization technique is proposed by combining the two step algorithm and a sampling-based approach. To cope with the odometry data, a particle filter is adopted for tracking robot positions. The effectiveness of the proposed technique is demonstrated through experiments in real environments.. |
| 163. |
Yumi Iwashita, Koji Uchino, Ryo Kurazume and Adrian Stoica, Gait identification from invisible shadows, SPIE Defense, Security, and Sensing, Biometric Technology for Human Identification IX, Baltimore, 2012.4.23-27, 2012.04. |
| 164. |
Study on CPS-SLAM : Improvement of Measurement Precision and Application for Tunnel Shape Measurement System
This paper presents a high precision 3D measurement system by multiple mobile robots. This system is composed of three mobile robots consisting of a parent robot and two child robots. The parent robot is equipped with a 3D laser scanner, attitude sensor and a total station, and the child robots are equipped with corner cubes. The parent robot moves and stops repeatedly, and measures the 3D shape using the equipped laser scanner at several positions. Meanwhile, the child robots also move and stop repeatedly, and act as mobile landmarks for the positioning of the parent robot. To improve the positioning accuracy, several devices were replaced or newly installed. The experimental results show the system achieves quite high accuracy of the 0.03% of target's size. As an example of applications, we applied the system to shape measurement of tunnels under construction, and verified that the accuracy of the developed system is as high as a high-precise 3D laser scanner.. |
| 165. |
大石修士, 倉爪亮, 岩下友美, 長谷川勉, リフレクタンス画像とTrilateral filterを用いた距離画像の平滑化, 電気学会論文誌, 132, 2, 2012.02. |
| 166. |
Ken'ichi Morooka, Tomoyuki Taguchi, Ryo Kurazume, Makoto Hashizume, Tsutomu Hasegawa, A method for constructing real-time FEM-based simulator of stomach behavior with large-scale deformation by neural networks, Proceedings of SPIE Volume 8316 (SPIE Medical Imaging)
, Paper 8316-18, San Diego, 2012.2.4-6, 2012, 2012.02. |
| 167. |
Shuntaro YUI, Junichi Miyakoshi, Kazuki Matsuzaki, Toshiyuki Irie, Ryo Kurazume, Size-adaptive hepatocellular carcinoma detection from 3D CT images based on the level set method, Proceedings of SPIE Volume 8315 (SPIE Medical Imaging)
, Paper 8315-60, San Diego, 2012.2.7-9, 2012, 2012.02. |
| 168. |
Ryuichi Hodoshima, Michele Guarnieri, Ryo Kurazume, Hiroshi Masuda, Takao Inoh, Paulo Debenest, Edwardo F. Fukushima and Shigeo Hirose, HELIOS Tracked Robot Team : Mobile RT System for Special Urban Search and Rescue Operations, Journal of Robotics and Mechatronics, 2012.01. |
| 169. |
Yukihiro Tobata, Ryo Kurazume, Yusuke Noda, Kai Lingemann, Yumi Iwashita, Tsutomu Hasegawa, Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots, Autonomous Robots, 10.1007/s10514-011-9256-x, 32, 1, 49-62, 2012.01, For the construction of 3-D shape models of large-scale architectural structures using laser range finders, a number of range images are taken from different viewpoints around the targets. Next, the obtained images are normally aligned by post-processing procedures, such as the ICP algorithm. However, to obtain convergent results in the ICP algorithm and align these range images to their proper positions, the initial position of each range image needs to be manually aligned to roughly the correct position. This paper proposes a new measurement and modeling system using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called the Co-operative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. Therefore, the proposed system can construct 3-D shapes of large-scale architectural structures without any post-processing procedure or manual intervention. In addition, it is possible to register range images even if the number of measurements is few and there are only a few range images, for example, due to range images containing insufficient feature shapes or overlapping regions. Measurement experiments in unknown and large indoor/outdoor environments including a large hall, a building, an urban district, and a cultural heritage have been successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V. Path generation experiments of the mobile robots based on the partially measured 3-D model are also presented. © 2011 Springer Science+Business Media, LLC.. |
| 170. |
DongXiang Zhang, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa, Appearance and map-based global localization using laser reflectivity, 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.--, Phuket, 2011.12.7-11, 2011, 2011.12. |
| 171. |
DongXiang Zhang, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa, Robot localization under perceptual aliasing conditions based on laser reflectivity using particle filter, 2011 IEEE/SICE International Symposium on System Integration (SII2011), pp.--, Kyoto, 2011.12.20-22, 2011, 2011.12. |
| 172. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, and Tsutomu Hasegawa, Robust Manipulation for Temporary Lack of Sensory Information by a Multi-Fingered Hand-Arm System, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10), San Francisco, Sepetember 25-30, 2011, 2011.09. |
| 173. |
Shuji Oishi, Ryo Kurazume, Yumi Iwashita, and Tsutomu Hasegawa, , Denoising of Range Images using a Trilateral Filter and Belief Propagation, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10), San Francisco, Sepetember 25-30, 2011, 2011.09. |
| 174. |
Ryo Kurazume, Yumi Iwashita, Koji Murakami, and Tsutomu Hasegawa, Introduction to the Robot Town Project and 3-D Co-operative Geometrical Modeling Using Multiple Robots
, 15th International Symposium on Robotics Research (ISRR 2011), 8-14, Flagstaff, August 28-31, 2011., 2011.08, International Symposium on Robotics Researchにおいて，著者らが実施しているロボットタウンプロジェクトについて招待講演を行った．. |
| 175. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa, Dynamic Object Manipulation Using a Multi-Fingered Hand-Arm System: Enhancement of a Grasping Capability Using Relative Attitude Constraints of Fingers, The 15th International Conference on Advanced Robotics
, 8-14, Tallinn, Estonia, June 20-23, 2011. (Finalist of Best Student Paper Award), 2011.06. |
| 176. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, and Tsutomu Hasegawa, Sensory Feedback Attitude Control for a Grasped Object by a Multi-Fingered Hand-Arm System
, 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO 2010), pp.-, Tianjin, Dec. 14-18, 2010, 2010.12. |
| 177. |
Yukihiro Tobata, Ryo Kurazume, Yumi Iwashita and Tsutomu Hasegawa, Automatic laser-based geometrical modeling using multiple mobile robots, 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO 2010), pp.-, Tianjin, Dec. 14-18, 2010, 2010.12. |
| 178. |
Kouji Murakami, Tsutomu Hasegawa, Yasunobu Nohara, Byong Won Ahn, and Ryo Kurazume, Position Tracking System for Commodities in an Indoor Environment, Proc. of IEEE International Conference on Sensors, pp.1879-1882, USA, Nov. 2010, 2010.11. |
| 179. |
Kouji Murakami, Tsutomu Hasegawa, Yasunobu Nohara, Byong-won Ahn, Ryo Kurazume, Position Tracking System for Commodities in a Daily Life Environment, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10), pp.3712-3718, Taipei, October 18-22, 2010, 2010.10. |
| 180. |
Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa, Detecting Repeated Motion Patterns using Partly Locality Sensitive Hashing, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10), pp.1353-1358, Taipei, October 18-22, 2010, 2010.10. |
| 181. |
Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume, A Tactile Sensing for Estimating the Position and Orientation of a Joint-Axis of a Linked Object, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10), pp.1884-1889, Taipei, October 18-22, 2010, 2010.10. |
| 182. |
Yumi Iwashita, Ryosuke Baba, Koichi Ogawara, Ryo Kurazume, Person identification from spatio-temporal 3D gait, Int. Conf. on Emerging Security Technologies, Kent, Sep. 6-8, 2010.9 (Best Paper Award), 2010.09. |
| 183. |
Yumi Iwashita, Adrian Stoica, Ryo Kurazume,, People identification using shadow dynamics, IEEE International Conference on Image Processing (ICIP), pp.-, September 26-29, 2010., 2010.09. |
| 184. |
Yumi Iwashita, Adrian Stoica, Ryo Kurazume, Person Identification using Shadow Analysis, British Machine Vision Conference 2010, August 31 -September 3, pp.-, 2010, 2010.08. |
| 185. |
Yumi Iwashita, Masaki Saito, Ryo Kurazume, Tsutomu Hasegawa, Motion Tracking in Daily Environment Using Distributed Image and Laser Sensors, The First International Workshop on Human Behavior Sensing
, June 15, 2010., 2010.05. |
| 186. |
Kouji Murakami, Kazuya Matsuo, Tsutomu Hasegawa, Ryo Kurazume, A decision method for placement of tactile elements on a sensor glove for the recognition of grasp types, IEEE/ASME Transactions on Mechatronics, 10.1109/TMECH.2009.2023647, 15, 1, 157-162, 2010.02, We describe a decision method for effective placement of tactile elements for grasp-type recognition. Not only does the placement decided by our method require a small number of tactile elements, it also achieves recognition performance as high as placements consisting of many elements. The placement decided by the method is evaluated through experiments involving the recognition of grasp type from the two types of grasp taxonomy defined by Cutkosky and Kamakura. The proposed method is extended by applying a decision tree pruning. The pruning is useful for reducing the number of selected tactile elements without badly dropping the recognition rate. © 2009 IEEE.. |
| 187. |
Oscar Martinez Mozos, Ryo Kurazume, Tsutomu Hasegawa, Multi-Part People Detection Using 2D Range Data, International Journal of Social Robotics, Vol.2, No.1, pp.31-40, (2010.1), 2010.01. |
| 188. |
田村暁斗，諸岡健一，倉爪亮，岩下友美，内田誠一，原健二，中西洋一，橋爪誠，長谷川勉, AdaBoost による気道・ 食道自動識別, 電子情報通信学会論文誌, Vol.J92-D, No.12, pp.2249-2260, 2009.12. |
| 189. |
M. Guarnieri, R. Kurazume, H. Masuda, T. Inoh, K. Takita, P. Debenest, R. Hodoshima, E. Fukushima, S. Hirose, HELIOS system: A team of tracked robots for special urban search and rescue operations, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 10.1109/IROS.2009.5354452, 23, 6, 2795-2800, 2009.12, Fire brigades and special agencies are often demanded to operate for search and aid of human lives in extremely dangerous scenarios. It is very important to first verify the safety of the environment and to obtain remotely a clear image of the scenario inside buildings or underground spaces. Several studies have been addressing the possibility of using robotic tools to carry out safe operations. This contribution presents the development of the HELIOS team, consisting of five tracked robots for Urban Search And Rescue. Two units are equipped with manipulators for the accomplishment of particular tasks, such as the handling of objects and opening doors; the other three units, equipped with cameras and laser range finders, are utilized to create virtual 3D maps of the explored environment. The three units can move autonomously while collecting the data by using a collaborative positioning system (CPS). After an overview on the specifications of the team of robots and with respect to previous publications, detailed information about the improvements of the robot mechanical design and control systems are introduced. Tests of the CPS system and HELIOS IX vehicle together with a typical mission experiment are presented and discussed. © 2009 IEEE.. |
| 190. |
Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara, and Ryo Kurazume, Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS09), pp. 1767-1772, St. Louis, October 11-15, 2009, 2009.10. |
| 191. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa,, Dynamic Grasping for an Arbitrary Polyhedral Object by a Multi-Fingered Hand-Arm System, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS09), pp.2264-2270, St. Louis, October 11-15, 2009
, 2009.10. |
| 192. |
Michele Guarnieri, Ryo Kurazume, Hiroshi Masuda, Takao Inoh, Kensuke Takita, Ryuichi Hodoshima, Paulo Debenest, Edwardo F. Fukushima, Shigeo Hirose, HELIOS System: A Team of Tracked Robots for Special Urban Search and Rescue Operations, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS09), pp.2795-2800, St. Louis, October 11-15, 2009, 2009.10. |
| 193. |
Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume, and Yoshihiko Kimuro, Supporting Robotic Activities in Informationally Structured Environment with Distributed Sensors and RFID Tags, Journal of Robotics and Mechatronics, Vol.21, No.4, pp.453-459, Aug. 2009, 2009.08. |
| 194. |
Yumi Iwashita, Shinji Tarumi, Ryo Kurazume, Makoto Hashizume, Development of Pseudo 3D Visualization System by Superimposing Ultrasound Images, International Symposium on Assistive and Recuperative Technologies for Injured, Ill, Pregnant, Elderly and people with Disabilities, pp., 2009.07. |
| 195. |
Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara and Ryo Kurazume, Measurement of static constraints imposed by a human hand on a grasped object, Int. Conf. on Advanced Robotics, pp., 2009.06. |
| 196. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume and Tsutomu Hasegawa, Simple Orientation Control of An Object by Regrasping using A Dual-arm Manipulator with Multi-Fingered Hands, Int. Conf. on Advanced Robotics, pp., 2009.06. |
| 197. |
Ryo Kurazume, Yusuke Noda, Yukihiro Tobata, Kai Lingemann, Yumi Iwashita, Tsutomu Hasegawa, Laser-based Geometric Modeling using Cooperative Multiple Mobile Robots, IEEE International Conference on Robotics and Automation, pp.3200-3205, 2009.04. |
| 198. |
Michele Guarnieri, Paulo Debenest, Takao Inoh, Kensuke Takita, Hiroshi Masuda, Ryo Kurazume, Edwardo F. Fukushima, Shigeo Hirose, HELIOS Carrier: Tail-like Mechanism and Control Algorithm for Stable Motion in Unknown Environments, IEEE International Conference on Robotics and Automation, pp.1851-1856, 2009.04. |
| 199. |
Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa, Fast Repetitious Motion Pattern Detection Method via Dynamic Programming using Motion Density, IEEE International Conference on Robotics and Automation, pp.1743-1749, 2009.04. |
| 200. |
Yumi Iwashita, Ryo Kurazume,, Person identification from human walking sequences using affine moment invariants, IEEE International Conference on Robotics and Automation, pp.436-441, 2009.04. |
| 201. |
Ryo Kurazume, Kaori Nakamura, Toshiyuki Okada, Yoshinobu Sato, Nobuhiko Sugano, Tsuyoshi Koyama, Yumi Iwashita, Tsutomu Hasegawa, 3D reconstruction of a femoral shape using a parametric model and two 2D fluoroscopic images, Computer Vision and Image Understanding, 10.1016/j.cviu.2008.08.012, 113, 2, 202-211, 2009.02, In medical diagnostic imaging, the X-ray CT scanner and the MRI system have been widely used to examine 3D shapes and internal structures of living organisms and bones. However, these apparatuses are generally large and very expensive. Since an appointment is also required before examination, these systems are not suitable for urgent fracture diagnosis in emergency treatment. However, X-ray/fluoroscopy has been widely used as traditional medical diagnosis. Therefore, the realization of the reconstruction of precise 3D shapes of living organisms or bones from a few conventional 2D fluoroscopic images might be very useful in practice, in terms of cost, labor, and radiation exposure. The present paper proposes a method by which to estimate a patient-specific 3D shape of a femur from only two fluoroscopic images using a parametric femoral model. First, we develop a parametric femoral model by the statistical analysis of 3D femoral shapes created from CT images of 56 patients. Then, the position and shape parameters of the parametric model are estimated from two 2D fluoroscopic images using a distance map constructed by the Level Set Method. Experiments using synthesized images, fluoroscopic images of a phantom femur, and in vivo images for hip prosthesis patients are successfully carried out, and it is verified that the proposed system has practical applications. © 2008 Elsevier Inc. All rights reserved.. |
| 202. |
Ryo Kurazume, Kaori Nakamura, Oshiyuki Okada, Yoshinobu Sato, Nobuhiko Sugano, Tsuyoshi Koyama, Yumi Iwashita, Tsutomu Hasegawa, 3D reconstruction of a femoral shape using a parametric model and two 2D fluoroscopic images, Computer Vision and Image Understanding, 2008.12. |
| 203. |
Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume and Yoshihiko Kimuro, A Structured Environment with Sensor Networks for Intelligent Robots, Proc. of IEEE Int. Conf. on Sensors, pp.1472-1475, Lecce, Italy, Oct. 200, 2008.10. |
| 204. |
Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume, A Decision Method for the Placement of Mechanical Tactile Elements for Grasp Type Recognition, Proc. of IEEE Int. Conf. on Sensors, pp.1472-1475 , Lecce, Italy, Oct. 200, 2008.10. |
| 205. |
Ken'ichi Morooka, Xian Chen, Ryo Kurazume, Uchida Seiichi, Kenji Hara, Yumi Iwashita, Makoto Hashizume, Real-time Nonlinear FEM with Neural Network for Simulating Soft Organ Model Deformation, The 11th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI 2008), 2008.09. |
| 206. |
Ryo Kurazume, Hiroyuki Yamada, Kouji Murakami, Yumi Iwashita, and Tsutomu Hasegawa, Target Tracking Using SIR and MCMC Particle Filters by Multiple Cameras and Laser Range Finders
, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.-, July 2008., 2008.09. |
| 207. |
Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa, Learning Meaningful Interactions from Repetitious Motion Patterns, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.-, July 2008., 2008.09. |
| 208. |
Tsuyoshi Yokoya, Tsutomu Hasegawa, and Ryo Kurazume, Calibration of Widely Distributed Vision Cameras by Mobile Robots with Cooperative Positioning, 17th IFAC World Congress, pp.-, July 2008., 2008.07. |
| 209. |
Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume, A Decision Method for the Placement of Tactile Sensors for Manipulation Task Recognition, IEEE International Conference on Robotics and Automation
, pp.-, May 2008., 2008.05. |
| 210. |
Tsuyoshi Yokoya, Tsutomu Hasegawa, Ryo Kurazume, and Kouji Murakami, Calibration of Distributed Vision Network in Unified Coordinate System by Mobile Robots, IEEE International Conference on Robotics and Automation
, pp.-, May 2008., 2008.05. |
| 211. |
Yumi Iwashita, Ryo Kurazume, Kenji Hara, Seiichi Uchida, Ken'ichi Morooka, and Tsutomu Hasegawa, Fast 3D Reconstruction of Human Shape and Motion Tracking by Parallel Fast Level Set Method, IEEE International Conference on Robotics and Automation, pp.-, May 2008., 2008.05. |
| 212. |
Yumi Iwashita, Ryo Kurazume, Kozo Konishi, Masahiko Nakamoto, Makoto Hashizume, Tsutomu Hasegawa, Fast alignment of 3D geometrical models and 2D grayscale images using 2D distance maps, Systems and Computers in Japan, 10.1002/scj.20634, 38, 14, 52-62, 2007.12, To create a textured virtual model of a real object, the 3D geometric model that is generally measured by a laser scanner must be aligned with the 2D image that is obtained from image sensors excluding some sensors for which geometric and photometric information are obtained at the same time. One conventional registration method that has been proposed compares the contour lines of the silhouette image of the 3D geometric model and of the 2D image and estimates the relative positions of both according to iterative calculations. However, a method that uses point correspondences of contour points in the 2D image and contour points of the silhouette image must find the nearest neighboring points for each iterative calculation, and the computational cost is high. Therefore, in this paper, the authors propose a new registration algorithm of grayscale images and 3D geometric models by using 2D distance maps that are constructed by using the Fast Marching Method from the boundary of an object on the grayscale image. They also show the effectiveness of the proposed method by performing simulation experiments and experiments using actual images. © 2007 Wiley Periodicals, Inc.. |
| 213. |
Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, and Ryo Kurazume, Recognition of Manipulation Sequences by Human Hand Based on Support Vector Machine, The 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON'07), pp. 2801-2806, Taipei, Taiwan, November. 2007, 2007.11. |
| 214. |
Yumi Iwashita, Ryo Kurazume, Kaori Nakamura, Toshiyuki Okada, Yoshinobu Sato, Nobuhiko Sugano, Tsuyoshi Koyama, Tsutomu Hasegawa, Patient-specific femoral shape estimation using a parametric model and two 2D fluoroscopic images, ACCV'07 Workshop on Multi-dimensional and Multi-view Image Processing, MM-O-9, November 2007., 2007.11. |
| 215. |
Seiichi Uchida, Akihiro Mori, Ryo Kurazume, Rin-ichiro Taniguchi and Tsutomu Hasegawa, Logical DP Matching for Detecting Similar Subsequence, 8th Asian Conference on Computer Vision, November 2007., 2007.11. |
| 216. |
Tsutomu Hasegawa, Kouji Murakami, Ryo Kurazume, Yosuke Senta, Yoshihiko Kimuro, Takafumi Ienaga, Robot Town Project: Sensory Data Management and Interaction with Robot of Intelligent Environment for Daily Life, 2007 International Conference on Ubiquitous Robots and Ambient Intelligence (URAI07), 2007., 2007
, 2007.10. |
| 217. |
Katsushi Ikeuchi, Takeshi Oishi, Jun Takamatsu, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, Ko Nishino, Mawo Kamakura, Yasuhide Okamoto, The great Buddha project: Digitally archiving, restoring, and analyzing cultural heritage objects, International Journal of Computer Vision, 10.1007/s11263-007-0039-y, 75, 1, 189-208, 2007.10, This paper presents an overview of our research project on digital preservation of cultural heritage objects and digital restoration of the original appearance of these objects. As an example of these objects, this project focuses on the preservation and restoration of the Great Buddhas. These are relatively large objects existing outdoors and providing various technical challenges. Geometric models of the great Buddhas are digitally achieved through a pipeline, consisting of acquiring data, aligning multiple range images, and merging these images. We have developed two alignment algorithms: a rapid simultaneous algorithm, based on graphics hardware, for quick data checking on site, and a parallel alignment algorithm, based on a PC cluster, for precise adjustment at the university. We have also designed a parallel voxel-based merging algorithm for connecting all aligned range images. On the geometric models created, we aligned texture images acquired from color cameras. We also developed two texture mapping methods. In an attempt to restore the original appearance of historical objects, we have synthesized several buildings and statues using scanned data and a literature survey with advice from experts. © 2007 Springer Science+Business Media, LLC.. |
| 218. |
Tokuo Tsuji, Hongbin Zha, Tsutomu Hasegawa, Ryo Kurazume, Hierarchical face cluster partitioning of polygonal surfaces and high-speed rendering, Systems and Computers in Japan, Vol.38, No.8, pp.32-43, July 2007, 2007.07. |
| 219. |
Tokuo Tsuji, Zha Hongbin, Tsutomu Hasegawa, Ryo Kurazume, Hierarchical face cluster partitioning of polygonal surfaces and high-speed rendering, Systems and Computers in Japan, 10.1002/scj.20581, 38, 8, 32-43, 2007.07, A computer's rendering capacity cannot handle the increased amount of data when rendering high-quality, three-dimensional computer graphic images. This results in problems such as rendering not being possible depending on the subject image, or the rendering speed dropping too far. To resolve these problems, we propose a method for generating a new hierarchical three-dimensional data structure based on recursive face cluster partitioning, and a high-speed rendering data extraction algorithm using that data structure. In the proposed algorithm, local resolution control using the approximating polygon of a face cluster, and precise invisible surface culling using the bounding volume of the face cluster can be executed in parallel. High-speed rendering can be performed with little deterioration in quality, even for a large amount of data. The effectiveness of this algorithm was confirmed with a local resolution control experiment and a large-scale three-dimensional model rendering experiment. © 2007 Wiley Periodicals, Inc.. |
| 220. |
Yumi Iwashita, Ryo Kurazume, Kozo Konishi, Masahiko Nakamoto, Naoki Aburaya, Yoshinobu Sato, Makoto Hashizume, Tsutomu Hasegawa, Fast model-image registration using a two-dimensional distance map for surgical navigation system, Advanced Robotics, 10.1163/156855307780429794, 21, 7, 751-770, 2007.06, This paper presents a new registration algorithm of two-dimensional (2-D) color images and 3-D geometric models for the navigation system of a surgical robot. A 2-D-3-D registration procedure is used to precisely superimpose a tumor model on an endoscopic image and is, therefore, indispensable for the surgical navigation system. Thus, the performance of the 2-D-3-D registration procedure influences directly the usability of the surgical robot operating system. One of the typical techniques that has been developed is the use of external markers. However, the accuracy of this method is reduced by the breathing or heartbeat of the patient, as well as other unknown factors. For precise registration of 3-D models and 2-D images without external markers or special measurement devices, a new registration method is proposed that utilizes the 2-D images and their distance maps as created by the Fast Marching Method. Here, we present results of fundamental experiments performed using simulated models and actual images of the endoscopic operation. © 2007 VSP.. |
| 221. |
Ryo Kurazume, Kaori Nakamura,Toshiyuki Okada, Yoshinobu Sato, Nobuhiko Sugano,Tsuyoshi Koyama, Yumi Iwashita, and Tsutomu Hasegawa, 3D reconstruction of a femoral shape using a parametric model and two 2D fluoroscopic images, in Proc. IEEE International Conference on Robotics and Automation 2007., 2007.04. |
| 222. |
Katsushi Ikeuchi, Takeshi Oishi, Jun Takamatsu, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, No Nishino, Mawo Kamakura and Yasuhide Okamoto, The Great Buddha Project: Digitally Archiving, Restoring, and Analyzing Cultural Heritage Objects, International Journal of Computer Vision, Vol.75, No.1, pp.189-208, (2007.2)
, 2007.03. |
| 223. |
n medical imaging, X-ray CT scanner or MRI system are quite useful to acquire 3D shapes of internal organs or bones.
However, these apparatuses are generally very expensive and of large size. They also need a prior arrangement, and thus, they are unsuitable for an urgent fracture diagnosis in emergency treatment.
This paper proposes a method to estimate a 3D shape of patient's femur from only two radiographs using a parametric femoral model. Firstly, we develop the parametric femoral model utilizing statistical procedure of 3D femoral models created by CT images of 51 patients. Then, the pose and shape parameters of the parametric model are estimated from two 2D images using a distance map constructed by the Level Set Method. Experiments using synthesized images and radiographs of a phantom femur are carried out to verify the performance of the proposed technique.. |
| 224. |
Masato Nakajima, Seiichi Uchida, Akihiro Mori, Ryo Kurazume, Rin-ichiro Taniguchi, Tsutomu Hasegawa, and Hiroaki Sakoe, Motion Prediction Based on Eigen-Gestures, Proc. of the First Korea-Japan Joint Workshop on Pattern Recognition, pp.61-66, 2006, 2006.11. |
| 225. |
Akiriho Mori, Seiichi Uchida, Ryo Kurazume, Rinichiro Taniguchi, Tsutomu Hasegawa, and Hiroaki Sakoe, Early recognition and prediction of gestures, Proc. International Conference on Pattern Recognition, 2006.08. |
| 226. |
Ryo Kurazume, Hiroaki Omasa, Seiichi Uchida, Rinichiro Taniguchi,Tsutomu Hasegawa, Embodied Proactive Human Interface ''PICO-2'', Proc. International Conference on Pattern Recognition, 2006.08. |
| 227. |
Yutaka Araki, Daisaku Arita, Rinichiro Taniguchi, Seiichi Uchida, Ryo Kurazume and Tsutomu Hasegawa, Construction of symbolic representation from human motion information, 10th Int. Conf. on Knowledge-Based & Intelligent Information & Engineering Systems (KES2006), 2006.01.  |
| 228. |
Ryo Kurazume and Tsutomu Hasegawa, A New Index of Serial Link Manipulator Performance Combining Dynamic Manipulability and Manipulating Force Ellipsoids, IEEE Transactions on Robotics, Vol.22, No.5, pp.1022-1028, 2006.01. |
| 229. |
Kohei Inoue, Tomoyuki Oho, Kenji Hara, Ryo Kurazume and Kiichi Urahama, A Factorization Method for Fish-eye Cameras, International Workshop on Advanced Image Technology (IWAIT 2006), pp.759-764, 2006.01. |
| 230. |
Tsutomu Hasegawa, Kouji Muarkami, and Ryo Kurazume, Robotic Dexterity by Multi-fingered Hand with Soft Fingertip, The 2nd International Conference on Ubiquitous Robots and Ambient Intelligence, pp.83-88, 2005.11. |
| 231. |
Ryo Kurazume, Ko Nishino, Mark D. Wheeler, Katsushi Ikeuchi, , Mapping textures on 3D geometric model using reflectance image, Systems and Computers in Japan, Vol. 36, Issue 13, pp.92-101, 2005.11. |
| 232. |
Ryo Kurazume, Ko Nishino, Mark D. Wheeler, Katsushi Ikeuchi, Mapping textures on 3D geometric model using reflectance image, Systems and Computers in Japan, 10.1002/scj.10392, 36, 13, 92-101, 2005.11, Texture mapping on scanned objects, that is, the method of mapping current color images on a 3D geometric model measured by a range sensor, is a key technique of photometric modeling for virtual reality. Usually range and color images are obtained from different viewing positions, through two independent range and color sensors. Thus, in order to map those color images on the geometric model, it is necessary to determine relative relations between these two viewpoints. This paper focuses on the reflectance image of the laser scanner which is given as side products of range images for most of the range sensors, and proposes a new calibration method for the texture mapping using reflectance images and the iterative pose estimation using robust M-estimator. © 2005 Wiley Periodicals, Inc.. |
| 233. |
Ryo Kurazume, Shuntaro Tanaka, Masahiro Yamashita, Tsutomu Hasegawa, Straight Legged Walking of a Biped Robot, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10.1109/IROS.2005.1545447, 3095-3101, pp.3095-3101, 2005.08. |
| 234. |
Yumi Iwashita, Ryo Kurazume, Kenji Hara, and Tsutomu Hasegawa, Fast Alignment of 3D Geometrical Models and 2D Color Images using 2D Distance Maps, The 5th International Conference on 3-D Digital Imaging and Modeling (3DIM), 10.1109/3DIM.2005.39, 164-171, pp.164-171, 2005.07. |
| 235. |
Tsutomu Hasegawa, Daiki Mukai, Hiroyuki Kobune, Kouji Murakami, and Ryo Kurazume,, Free Space Structurization of Telerobotic Environment for On-line Transition to Autonomous Tele-Manipulation, 12th Int. Conf. on Advanced Robotics, 775-781, pp.775-781, 2005.07. |
| 236. |
Yumi Iwashita, Ryo Kurazume, Kozo Konishi, Masahiko Nakamoto, Makoto Hashizume, and Tsutomu Hasegawa, Fast 2D-3D Registration for Navigation System of Surgical Robot, IEEE International Conference on on Robotics and Automation, 897-903, pp.909-915, 2005.05. |
| 237. |
Yumi. Iwashita, Ryo Kurazume, Tokuo Tsuji, Kenji Hara, and Tsutomu Hasegawa, Fast implementation of level set method and its realtime applications, IEEE International Conference on Systems, Man and Cybernetics, 6302-6307, 2004.09. |
| 238. |
Rinichiro Taniguchi, Daisaku Arita, Seiichi Uchida, Ryo Kurazume, and Tsutomu Hasegawa, Human action sensing for proactive human interface: Computer vision approach, International workshop on Processing Sensory Information for Proactive Systems (PSIPS 2004), 2004.08. |
| 239. |
Tokuo Tsuji, Hongbin Zha, Tsutomu Hasegawa, and Ryo Kurazume, Levels of Detail Control Based on Correlation Analysis Between Surface Position and Direction, Proc. 17th International Conference on Pattern Recognition (ICPR'04), 10.1109/ICPR.2004.1334606, 622-625, 2004.08. |
| 240. |
Tokuo Tsuji, Hongbin Zha, Tsutomu Hasegawa, and Ryo Kurazume, Interactive Rendering with LOD Control and Occlusion Culling Based on Polygon Hierarchies, Proc. Compute Graphics International 2004(CGI'04), 536-539, 2004.06. |
| 241. |
Yuichiro Hirota, Tomohito Masuda, Ryo Kurazume, Kohichi Ogawara, Kazuhide Hasegawa, Katsushi Ikeuchi, Flying Laser Range Finder and its data registration, IEEE Int. Conf. on Robotics and Automation 2004, pp.3155-3160, 2004.05. |
| 242. |
Ryo Kurazume and Tsutomu Hasegawa, Impedance matching for a serial link manipulator, IEEE Int. Conf. on Robotics and Automation 2004, 10.1109/ROBOT.2004.1302478, 4802-4808, pp.4802-4808, 2004.05. |
| 243. |
In this decade, a number of various robot contests represented by "RoboCup" have been held in various parts of the world. In some of these contests, such as RoboCup middle-size robot league, fully automated mobile robots are used to compete for their mobility and autonomy. These robots have to plan optimum moving strategy automatically without any human intervention after the game starts. One of the fundamental and crucial faculties for these autonomous robots is the ability of accurate positioning of enemy and themselves. In this paper, a robust positioning system is proposed for soccer robots equipped with an omni-directional camera and wheels. The robot identifies its own position by observing some landmarks placed around the field through an omni-directional camera, and by counting rotation of wheels. To achieve the robust positioning, the proposed method utilizes (1) LMedS method for making correct correspondence between observed directions and landmarks, (2) elimination of miss-correspondence of landmarks using a median filter, (3) position calculation considering the properties of measurement error distributions using nonlinear maximum likelihood method, and (4) data fusion of positions obtained by observing landmarks and dead reckoning using kalman filter.. |
| 244. |
Yuichiro Hirota, Tomohito Masuda, Ryo Kurazume, Koichi Ogawara, Kazuhide Hasegawa, Katsushi Ikeuchi, Designing a laser range finder which is suspended beneath a balloon, Sixth Asian Conference on Computer Vision (ACCV), 2004.03. |
| 245. |
Ryo Kurazume, Ahn Byong-won, Kazuhiko Ohta, Tsutomu Hasegawa, Experimental Study on Energy Efficiency for Quadruped Walking Vehicles, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 613-618, pp.613-618, 2003.11. |
| 246. |
Takeshi Oishi, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi, Parallel Alignment of a Large Number of Range Images, The 4th International Conference on 3D Digital Imaging and Modeling (3DIM 2003), pp.195-202, 2003.10. |
| 247. |
The level set method, introduced by S. Osher and J. A. Sethian, has attracted much attention as a topological-free active contour model. This method utilizes an implicit representation of a contour to be tracked, and is able to handle the topological change of the contour naturally. Various applications based on the level set method have been presented including motion tracking, 3D geometrical modelling, and simulation of crystallization or semiconductor growth. However, the calculation cost of reinitialization and updating of the implicit function is considerably expensive as compared with the cost of conventional active contour models such as ``Snakes''. In this paper, we propose an efficient calculation algorithm for the level set method named the Fast Level Set Method (FLSM).
Advantages of the proposed FLSM are as follows: i) the use of the extension velocity and the high speed construction of the extension velocity field using the Fast Narrow Band Method, ii) the frequent execution of the reinitializatin process of the implicit function which requires little calculation cost.
The efficiency of the proposed method is verified through computer simulations, and experiments of realtime tracking of moving objects in video images.. |
| 248. |
Ryo Kurazume, Tsutomu Hasegawa, Kan Yoneda, The Sway Compensation Trajectory for a Biped Robot, IEEE Int. Conf. on Robotics and Automation, 925-931, pp.925-931, 2003.05. |
| 249. |
From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed ``the sway compensation trajectory''. This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop the sway compensation trajectory for a biped robot, and show that dynamically stable walking is realized. This method makes it quite easy to design stable ZMP and COG (center of gravity) trajectories, which have been regarded as a very complicated and delicate problem. The effectiveness of the proposed method is verified through computer simulations and walking experiments by a humanoid robot HOAP-1, and YANBO-3.. |
| 250. |
Ryusuke Sagawa, Takeshi Oishi, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi, Iterative Refinement of Range Images with Anisotropic Error Distribution, 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2002.10. |
| 251. |
Ryo Kurazume, Ko Noshino, Zhengyou Zhang, and Katushi Ikeuchi, Simultaneous 2D images and 3D geometric model registration for texture mapping utilizing reflectance attribute, Proc. of Fifth Asian Conference on Computer Vision (ACCV), vol.1, pp.99-106, 2002.03. |
| 252. |
R. Kurazume, K. Yoneda, and S. Hirose, Feedforward and feedback dynamic trot gait control for quadruped walking vehicle, Autonomous Robots, Vol. 12, No. 2, pp.157-172, 2002.01. |
| 253. |
Katsushi Ikeuchi, Yutaka Takase, Ryo Kurazume, Takeshi Ooishi, Ryusuke Sagawa, Ko Nishino, Modeling Cultural Heritage Through Observation, Int. Sympo. on Artificial Intelligence, Robotics and Human Centered Technology for Nuclear Applications, 2002.01. |
| 254. |
Takeshi Oishi, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi, Parallel Alignment of a Large Number of Range Images, The 4th International Conference on 3D Digital Imaging and Modeling (3DIM 2003), 2001.10. |
| 255. |
Ryo Kurazume, Kan Yoneda, and Shigeo Hirose, Feedforward and feedback dynamic trot gait control for a quadruped walking vehicle, IEEE Int. Conf. on Robotics and Automation, pp. 3172-3180, 2001.05. |
| 256. |
Ryo Kurazume, Mark D. Wheeler, and Katushi Ikeuchi, Mapping textures on 3D geometric model using reflectance image, Workshop for "Data Fusion" at IEEE Int. Conf. on Robotics and Automation, 2001.05. |
| 257. |
Ryo Kurazume and Shigeo Hirose, Development of image stabilization system for a remote operation of walking robots, IEEE Int. Conf. on Robotics and Automation, pp.1856-1861, 2000.05. |
| 258. |
R. Kurazume and S. Hirose, An Experimental Study of a Cooperative Positioning System, Autonomous Robots, Vol. 8, No. 1, pp. 43-52, 2000.01. |
| 259. |
R. Kurazume and S. Hirose, Development of a Cleaning Robot System with Cooperative Positioning System, Autonomous Robots, Vol. 9, No. 3, pp. 237-246, 2000.01. |
| 260. |
Ryo Kurazume, Shigeo Hirose, An experimental study of a Cooperative Positioning System, Autonomous Robots, 10.1023/A:1008988801987, 8, 1, 43-52, 2000.01, Several position identification methods are being used for mobile robots. Dead reckoning is a popular method but due to the error accumulation from wheel slippage, its reliability is low for measurement of long distances especially on uneven surfaces. Another popular method is the landmark method, which estimates current position relative to known landmarks, but the landmark method's limitation is that it cannot be used in an uncharted environment. Thus, this paper proposes a new method called "Cooperative Positioning System (CPS)" that is able to overcome these shortcomings. The main concept of CPS is to divide the robots into two groups, A and B where group A remains stationary and acts as a landmark while group B moves and then group B stops and acts as a landmark for group A. This process is repeated until the target position is reached. Compared with dead reckoning, CPS has a far lower accumulation of positioning errors, and can also work in three dimensions. Furthermore, CPS employs inherent landmarks and therefore can be used in uncharted environments unlike the landmark method. In this paper, we introduce the basic concept of CPS and its positioning principle. Next, we outline a second prototype CPS machine model (CPS-II) and discuss the method of position estimation using the variance of positioning error and weighted least squares method. Position identification experiments using the CPS-II model give a positioning accuracy of 0.12% for position and 0.32 degree for attitude after the robots traveled a distance of 21.5 m. © 2000 Kluwer Academic Publishers.. |
| 261. |
Ryo Kurazume and Shigeo Hirose, Study on Cooperative Positioning System - Optimum Moving Strategies for CPS-III -, IEEE Int. Conf. on Robotics and Automation, Vol. 4, pp. 2896-2903, 1998.05. |
| 262. |
Ryo Kurazume, Shigeo Hirose, Shigemi Nagata, and N. Sashida, Study on Cooperative Positioning System -Basic Principle and Measurement Experiment-, IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 1421-1426, 1996.05. |
| 263. |
Ryo Kurazume, Shigemi Nagata and Shigeo Hirose, Cooperative Positioning with Multiple Robots, IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 1250-1257, 1994.05. |
| 264. |
Ryo Kurazume, Shigemi Nagata and Shigeo Hirose, Cooperative Positioning with Multiple Robot, JSME 2nd Int. Conf. on Motion and Vibration Control, pp. 244-249, 1994.01. |
| 265. |
Kazuya Yoshida, Naoki Sashida, Ryo Kurazume, Yoji Umetani, Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor, Proceedings - IEEE International Conference on Robotics and Automation, 10.1109/ROBOT.1992.220182, 1, 899-904, 1992.04, The authors present a basic formulation of motion dynamics of a free-floating rigid-link system to establish a basis of the collision dynamics. They propose a novel concept named extended generalized inertia tensor (Ex-GIT), which is an extended version of the GIT for ground-based arms, and discuss the virtual mass concept. By means of these concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law.. |
| 266. |
K. Hijikata, T. Nagasaki, R. Kurazume, K. Fushinobu and W. Nakayama, A Study on Heat Transfer from Small Heating Elements in anIntegrated Circuit Chip, 3rd ASME/JSME Thermal Engng Joint Conf., Vol.4, pp.93-98., 1991.01. |
| 267. |
Kazuya Yoshida, Ryo Kurazume, and Yoji Umetani, Dual Arm Coordination in Space Free-Flying Robot, IEEE Int. Conf. on Robotics and Automation, Vol. 1, pp. 2516--2521, 1991.01. |
| 268. |
Institute of Industrial Science,
This paper describes a method for parallel alignment of multiple range images. There are problems of computational time and memory space in aligning a large number of range images simultaneously. We developed a parallel method to address the problems. Searching for corresponding points between two range images is time-consuming and requires considerable memory space when performed independently. However, this process can be preformed in parallel, with each corresponding pair of range images assigned to a node. Because the computation time is approximately proportional to the number of vertices, by assigning the pairs so that the number of vertices computed is equal on each node, the load on each node is effectively distributed. In order to reduce the amount of memory required on each node, a hypergraph that represents the correspondences of range images is created, and heuristic graph partitioning algorithms are applied to determine the optimal assignment of the pairs. Moreover, by rejecting redundant dependencies, it becomes possible to accelerate computation time and reduce the amount of memory required on each node. The method was tested on a 16-processor PC cluster, where it demonstrated high extendibility and improved performance. 1.. |
| 269. |
Simultaneous 2D images and 3D geometric model registration for texture mapping utilizing reflectance attribute
Texture mapping on scanned objects, that is, the method to map current color images on a 3D geometric model measured by a range sensor, is a key technique of photometric modeling for virtual reality. Usually range and color images are obtained from different viewing positions, through two independent range and color sensors. Thus, in order to map those color images on the geometric model, it is necessary to determine relative relations between these two viewpoints. In this paper, we propose a new calibration method for the texture mapping; the method utilizes reflectance images and iterative pose estimation based on a robust Mestimator. Moreover, since a 2D texture image taken from one viewing point is a partial view of an object, several images must be mapped onto the object in order to cover the entire 3D geometric model. In this paper, we propose the new simultaneous registration technique of several images and geometric model based on 2D-3D edge correspondence and the epipolar constraint between images. 1. |
