Updated on 2024/10/08

Information

 

写真a

 
KURAZUME RYO
 
Organization
Faculty of Information Science and Electrical Engineering Department of Advanced Information Technology Professor
School of Engineering Department of Electrical Engineering and Computer Science(Joint Appointment)
Graduate School of Information Science and Electrical Engineering Department of Information Science and Technology(Joint Appointment)
Title
Professor
Contact information
メールアドレス
Profile
Research topics are service robots, multiple mobile robots, and computer vision.
Homepage
  • https://robotics.ait.kyushu-u.ac.jp/kurazume/en/

    Real World Informative Robotics,Laboratory for Real World Robotics, Department of Advanced Information Technology, Graduate School of Information Science and Electrical Engineering, Kyushu University

Research Areas

  • Informatics / Perceptual information processing

  • Informatics / Intelligent robotics

Degree

  • Ph.D

Research History

  • Kyushu University Professor

    2007 - Present

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  • Kyushu University Faculty of Information Science and Electrical Engineering Professor

    2007 - Present

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  • 1991-1994 (株)富士通研究所 2000-2002 科学技術振興事業団

    1991-1994 (株)富士通研究所 2000-2002 科学技術振興事業団

  • 1995-2000 東京工業大学

Research Interests・Research Keywords

  • Research theme:移動ロボット

    Keyword:移動ロボット

    Research period: 2024

  • Research theme:歩行ロボット

    Keyword:歩行ロボット

    Research period: 2024

  • Research theme:宇宙ロボット

    Keyword:宇宙ロボット

    Research period: 2024

  • Research theme:コンピュータビジョン

    Keyword:コンピュータビジョン

    Research period: 2024

  • Research theme:Robotics

    Keyword:Robotics

    Research period: 2024

  • Research theme:Human interface

    Keyword:Human interface

    Research period: 2024

  • Research theme:Computer vision

    Keyword:Computer vision

    Research period: 2024

  • Research theme:3D image processing

    Keyword:Computer Vision, Laser range finder, Stereo vision

    Research period: 2002.4

  • Research theme:Development of intelligent robot

    Keyword:Walking robot, Mobile robot, Multipe robot

    Research period: 2002.4

Awards

  • 九州大学工学講義賞

    2022.11   九州大学工学部  

  • 九州大学工学講義賞

    2022.11   九州大学工学部  

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  • 部門貢献表彰

    2021.12   計測自動制御学会 システムインテグレーション部門  

  • 功績賞

    2021.6   日本機械学会 ロボティクス・メカトロニクス部門  

  • フェロー

    2019.9   計測自動制御学会  

  • 計測自動制御学会 フェロー

    2019.9   計測自動制御学会  

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    計測自動制御学会 フェロー

  • ロボティクスメカトロニクス部門 ROBOMECH表彰(学術研究分野)

    2019.6   日本機械学会  

  • 日本機械学会 ロボティクスメカトロニクス部門 ROBOMECH表彰(学術研究分野)

    2019.6   日本機械学会  

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    平松 知樹, 今井 将人, 山田 弘幸, 河村 晃宏, 倉爪 亮, 小型センサ端末によるパーソナルモビリティ・ビークルの誘導制御システムの開発, 日本機械学会ロボティクスメカトロニクス講演会2018, pp.1A1-L10, 2018.6.2-5

  • 教育賞

    2019.3   日本機械学会  

  • 日本機械学会 教育賞

    2019.2   日本機械学会  

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    ロボットミドルウェアROS の普及への貢献

  • Senior Member

    2018.12   IEEE   Senior Member

  • IEEE Senior Member

    2018.12   IEEE  

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    IEEE Senior Member

  • フェロー

    2018.2   日本機械学会  

  • 日本機械学会 フェロー

    2018.2   日本機械学会  

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    日本機械学会 フェロー

  • システムインテグレーション部門学術業績賞

    2017.12   計測自動制御学会  

  • 計測自動制御学会 システムインテグレーション部門 学術業績賞

    2017.12   計測自動制御学会システムインテグレーション部門  

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    計測自動制御学会 システムインテグレーション部門 学術業績賞

  • 日本ロボット学会 フェロー

    2016.9   日本ロボット学会  

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    日本ロボット学会 フェロー

  • フェロー

    2016.9   日本ロボット学会  

  • システムインテグレーション部門研究奨励賞

    2015.12   計測自動制御学会  

  • 2015年度 計測自動制御学会 SI部門研究奨励賞

    2015.12   計測自動制御学会SI部門  

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    新崎 誠, 岩下 友美, 小川原 光一, 倉爪 亮, 統計的モデルを用いた見えの変化 に頑強な歩容による個人識別, 第20回ロボティクスシンポジア, pp.342-347, 2015.3.15

  • 第13回計測自動制御学会SI部門講演会 SI2014 優秀講演賞

    2014.12   計測自動制御学会SI部門  

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    小山 翔平, 岩下 友美, 倉爪 亮, "クワッドコプタ搭載LRFと単眼カメラによるBaySACを用いた地表面計測", 第15回計測自動制御学会システムインテグレーション部門講演会 SI2014, 1M2-2, 2014.12.15

  • 第4回バイオメトリクスと認識・認証シンポジウム優秀論文賞

    2014.11  

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    新崎 誠, 岩下 友美, 小川原 光一, 倉爪 亮, "統計的モデルを用いた見えの変化 に頑強な歩容認証", 第4回バイオメトリクスと認識・認証シンポジウム, O-1-1, 2014.11.26

  • Best Paper in the Machine Vision Workshop

    2014.10   Fifth International Conference on Emerging Security Technologies  

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    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), pp.40-45, Alcala, Spain, Sep. 10-12, 2014

  • 2014年度日本ロボット学会論文賞

    2014.9   日本ロボット学会   大規模な3次元環境地図とRGB-Dカメラを用いた移動ロボットの広域位置同定,

  • Best Paper in the Machine Vision Workshop

    2014.9   The Fifth International Conference on Emerging Security Technologies (EST 2014)   Best Paper in the Machine Vision Workshop

  • 第28回日本ロボット学会論文賞

    2014.9   日本ロボット学会  

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    鄭 龍振, 倉爪 亮, 岩下 友美, 長谷川 勉, "大規模な3次元環境地図とRGB-Dカメラを用いた移動ロボットの広域位置同定", 日本ロボット学会誌, Vol.31, No.10, pp.896-906, 2013

  • 第14回建設ロボットシンポジウム優秀論文賞

    2014.8   建設ロボットシンポジウム   群ロボットによる大規模環境のレーザ観測の自動計画

  • 第14回建設ロボットシンポジウム優秀論文賞

    2014.8   大島 漱一郎, 永倉 翔吾, 岩下 友美, 倉爪 亮, "群ロボットによる大規模環境のレーザ観測の自動計画", 第14回建設ロボットシンポジウム, pp.321-330, 2014.8.28

  • 第31回SICE九州支部学術講演会支部奨励賞

    2012.12   計測自動制御学会九州支部学術講演会支部  

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    園木秀治, 諸岡健一, 倉爪亮, 橋爪誠, 長谷川勉, オーダーメイド医療のための軟性肝臓モデルの物性パラメータ推定, 第31回計測自動制御学会九州支部学術講演会, 2012.12.9

  • 日本機械学会ロボティクス・メカトロニクス部門学術業績賞

    2012.5   日本機械学会  

  • 日本機械学会 ロボティクス・メカトロニクス部門学術業績賞

    2012.5   日本機械学会  

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    受賞理由:複数移動ロボットの協調制御やロボットビジョン,医用画像処理,環境情報構造化など多くの研究分野で研究開発を行い,学術・技術両面で高く評価されている.また,研究成果の産業応用やロボット教育にも積極的に取り組み,ロボティクス・メカトロニクスの分野の発展に寄与した.

  • 第16回ロボティクスシンポジア優秀論文賞

    2011.3   第16回ロボティクスシンポジア実行委員会  

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    大石 修士, 倉爪 亮, 岩下 友美, 長谷川 勉, Trilareral filterとBelief Propagationを用いた距離画像の平滑化及び欠損修復, 第16回ロボティクスシンポジア講演予稿集, pp.1-7, 2011.3.14

  • T. J. Tarn Best Paper in Robotics

    2010.12   IEEE International Conference on Robotics and Biomimetics (ROBIO2010)  

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    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.363-369, Tianjin, Dec. 14-18, 2010 (T.J.Tarn Best Paper in Robotics)

  • Best Oral Presentation Award

    2010.9   Int. Conf. on Emerging Security Technologies  

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    Yumi Iwashita, Ryosuke Baba, Koichi Ogawara, Ryo Kurazume, "Person identification from spatio-temporal 3D gait", Int. Conf. on Emerging Security Technologies, pp.30-35 (2010.9)

  • ロボティクスシンポジア優秀論文賞

    2010.3   ロボティクスシンポジア  

  • 日本機械学会 ロボメック表彰

    2009.5   日本機械学会  

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    山田 弘幸, 倉爪 亮, 村上 剛司, 長谷川 勉, SIR/MCMCパーティクルフィルタを用いたカメラとレーザレンジファインダによる複数移動体の同時追跡, 第13回ロボティクスシンポジア講演会予稿集, pp.252-258, (2008.3).

  • 日本ロボット学会 功労賞

    2008.9   日本ロボット学会  

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    学会活動への貢献

  • SI2006優秀講演賞

    2006.12   計測自動制御学会  

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    岩下 友美, 倉爪 亮, 原 健二, 長谷川 勉, 局所境界の移動方向予測値に基づく実物体の高速な3次元形状復元, 第7回計測自動制御学会システムインテグレーション部門講演会講演予稿集, pp.914-915, 2006.12

  • SI2005ベストセッション講演賞

    2005.12   計測自動制御学会  

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    長谷川 勉, 浦本 征吾, 向井 大樹, 倉爪 亮, 村上 剛司, 直接操縦から自律制御へのオンライン移行型遠隔作業ロボットシステム 対象物体のポインティング指示と動作プリミティブによる自動作業, 第6回計測自動制御学会システムインテグレーション部門講演会, 1A3-2, 2005 12

  • 日本ロボット学会論文賞

    1993.10   日本ロボット学会  

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    吉田 和哉,倉爪 亮,梅谷 陽二, 宇宙ロボットの多腕協調制御(スタビライジングアームの利用による 制御トルクの最適化), 日本ロボット学会誌, Vol.9,No.6, pp.718-726, (1991).

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Papers

  • Isomorphic Mesh Generation from Point Clouds with Multilayer Perceptrons Reviewed

    Shoko Miyauchi, Ken'ichi Morooka, Ryo Kurazume

    IEEE Transactions on Visualization and Computer Graphics   1 - 18   2024.2   ISSN:1077-2626 eISSN:1941-0506

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    Language:Others   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    A novel neural network called the isomorphic mesh generator (iMG) is proposed to generate isomorphic meshes from point clouds containing noise and missing parts. Isomorphic meshes of arbitrary objects exhibit a unified mesh structure, despite objects belonging to different classes. This unified representation enables various modern deep neural networks (DNNs) to easily handle surface models without requiring additional pre-processing. Additionally, the unified mesh structure of isomorphic meshes enables the application of the same process to all isomorphic meshes, unlike general mesh models, where processes need to be tailored depending on their mesh structures. Therefore, the use of isomorphic meshes can ensure efficient memory usage and reduce calculation time. Apart from the point cloud of the target object used as input for the iMG, point clouds and mesh models need not be prepared in advance as training data because the iMG is a data-free method. Furthermore, the iMG outputs an isomorphic mesh obtained by mapping a reference mesh to a given input point cloud. To stably estimate the mapping function, a step-by-step mapping strategy is introduced. This strategy enables flexible deformation while simultaneously maintaining the structure of the reference mesh. Simulations and experiments conducted using a mobile phone have confirmed that the iMG reliably generates isomorphic meshes of given objects, even when the input point cloud includes noise and missing parts.

    DOI: 10.1109/tvcg.2024.3367855

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  • Information Presentation Strategies to Promote Pedestrian Behavior Change in Mixed Spaces with Automated Vehicle. Reviewed

    Yuki Nishiura, Hiroyuki Yamada, Ryo Kurazume

    SII   1026 - 1031   2024.1   ISBN:9798350312072

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    This paper introduces an information presentation strategy for pedestrians, aiming to enhance traffic efficiency in a mixed pedestrian-automated vehicle environment, such as a public road. While automated driving technology has made remarkable progress, interactions with pedestrians on regular roads have mostly been studied in virtual environments using virtual reality goggles. According to these studies, potential traffic efficiency and safety issues arise from pedestrians' limited understanding of automated vehicle behavior. To address this, we propose a human-machine interface employing a head-mounted display (HMD) to mitigate traffic efficiency degradation caused by pedestrians. The proposed system draws upon behavioral economics principles to encourage pedestrians to modify their behavior and develop better interactions with automated vehicles. Simulations were conducted to identify an information presentation strategy that strongly supports learning, and its effectiveness was further validated through experiments involving a real vehicle. Notably, the experimental results confirmed that the information presentation strategies proven effective in simulations also facilitated pedestrian learning during real-world interactions.

    DOI: 10.1109/SII58957.2024.10417422

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    Other Link: https://dblp.uni-trier.de/db/conf/sii/sii2024.html#NishiuraYK24

  • Development of a Retrofit Backhoe Teleoperation System Using Cat Command. Reviewed

    Koshi Shibata, Yuki Nishiura, Yusuke Tamaishi, Kohei Matsumoto, Kazuto Nakashima, Ryo Kurazume

    SII   1486 - 1491   2024.1   ISBN:9798350312072

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    Most existing retrofit remote-control systems for backhoes are large, hard-to-install, and expensive. Therefore, we propose an easy-to-install and inexpensive teleoperation system. The proposed system comprised remote-control and sensing systems. The remote-control system retrofits robot arm-based devices to 'Cat Command', a compact embedded teleoperation system with a limited communication range, and controls these devices via a 5G commercial network to realize control from a remote office. Because this system does not require any additional modifications to the embedded control unit in the cockpit, the operator can continue working in the cockpit even if the backhoe is remotely controlled. The system enables the remote control of various devices from an extremely long distance by changing the joint parts between the robot arm and the embedded remote-control device. The sensing system estimates the posture and position of the backhoe by attaching original sensing devices to the backhoe. In addition, a 360 camera was installed in the cockpit to transmit work images from the construction site to a remote office in real time. The sensing device was smaller and lighter than conventional devices. We confirmed that the proposed system can be used to operate a construction site backhoe from a remote office, and that the system can be used to excavate soil using an actual backhoe.

    DOI: 10.1109/SII58957.2024.10417625

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    Other Link: https://dblp.uni-trier.de/db/conf/sii/sii2024.html#ShibataNTMNK24

  • Development of Garbage Collecting Robot for Marine Microplastics.

    Mitsuki Uno, Ryo Kurazume

    SII   1492 - 1497   2024.1   ISBN:9798350312072

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    DOI: 10.1109/SII58957.2024.10417409

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  • RGB-Based Gait Recognition With Disentangled Gait Feature Swapping

    Yoshino K., Nakashima K., Ahn J., Iwashita Y., Kurazume R.

    IEEE Access   12   115515 - 115531   2024   ISSN:2169-3536

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    Publisher:IEEE Access  

    Gait recognition enables the non-contact identification of individuals from a distance based on their walking patterns and body shapes. For vision-based gait recognition, covariates (e.g., clothing, baggage and background) can negatively impact identification. As a result, many existing studies extract gait features from silhouettes or skeletal information obtained through preprocessing, rather than directly from RGB image sequences. In contrast to preprocessing which relies on the fitting accuracy of models trained on different tasks, disentangled representation learning (DRL) is drawing attention as a method for directly extracting gait features from RGB image sequences. However, DRL learns to extract features of the target attribute from the differences among multiple inputs with various attributes, which means its separation performance depends on the variation and amount of the training data. In this study, aiming to enhance the variation and quantity of each subject's videos, we propose a novel data augmentation pipeline by feature swapping for RGB-based gait recognition. To expand the variety of training data, features of posture and covariates separated through DRL are paired with features extracted from different individuals, which enables the generation of images of subjects with new attributes. Dynamic gait features are extracted through temporal modeling from pose features of each frame, not only from real images but also from generated ones. The experiments demonstrate that the proposed pipeline increases both the quality of generated images and the identification accuracy. The proposed method also outperforms the RGB-based state-of-the-art method in most settings.

    DOI: 10.1109/ACCESS.2024.3445415

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  • LiDAR Data Synthesis with Denoising Diffusion Probabilistic Models. Reviewed

    Kazuto Nakashima, Ryo Kurazume

    ICRA   14724 - 14731   2024   ISSN:10504729 ISBN:9798350384574

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    Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/ICRA57147.2024.10611480

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    Other Link: https://dblp.uni-trier.de/db/conf/icra/icra2024.html#NakashimaK24

  • Fast LiDAR Upsampling using Conditional Diffusion Models.

    Sander Elias Magnussen Helgesen, Kazuto Nakashima, Jim Tørresen, Ryo Kurazume

    CoRR   abs/2405.04889   2024

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.48550/arXiv.2405.04889

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  • Collaborative AI robots for adaptation of diverse environments and innovation of infrastructure construction Reviewed

    NAGATANI Keiji, OSUKA Koichi, ASAMA Hajime, KURAZUME Ryo

    Journal of structures and materials in civil engineering   39 ( 0 )   11 - 18   2023.12   ISSN:21854157 eISSN:2759176X

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    Language:Japanese   Publisher:Kyushu Association for Bridge and Structural Engineering  

    Collaborative AI robots for adaptation of diverse environments and innovation of infrastructure construction

    DOI: 10.60345/kabse.39.0_11

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  • Learning Viewpoint-Invariant Features for LiDAR-Based Gait Recognition. Reviewed

    Jeongho Ahn, Kazuto Nakashima, Koki Yoshino, Yumi Iwashita, Ryo Kurazume

    IEEE Access   11   129749 - 129762   2023.11   ISSN:2169-3536 eISSN:2169-3536

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    Gait recognition is a biometric identification method based on individual walking patterns. This modality is applied in a wide range of applications, such as criminal investigations and identification systems, since it can be performed at a long distance and requires no cooperation of interests. In general, cameras are used for gait recognition systems, and previous studies have utilized depth information captured by RGB-D cameras, such as Microsoft Kinect. In recent years, multi-layer LiDAR sensors, which can obtain range images of a target at a range of over 100 m in real time, have attracted significant attention in the field of autonomous mobile robots and self-driving vehicles. Compared with general cameras, LiDAR sensors have rarely been used for biometrics due to the low point cloud densities captured at long distances. In this study, we focus on improving the robustness of gait recognition using LiDAR sensors under confounding conditions, specifically addressing the challenges posed by viewing angles and measurement distances. First, our recognition model employs a two-scale spatial resolution to enhance immunity to varying point cloud densities. In addition, this method learns the gait features from two invariant viewpoints (i.e., left-side and back views) generated by estimating the walking direction. Furthermore, we propose a novel attention block that adaptively recalibrates channel-wise weights to fuse the features from the aforementioned resolutions and viewpoints. Comprehensive experiments conducted on our dataset demonstrate that our model outperforms existing methods, particularly in cross-view, cross-distance challenges, and practical scenarios.

    DOI: 10.1109/ACCESS.2023.3333037

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  • Soft Enveloping Gripper Driving Several Fingers by 3D Snap Through Buckling Mechanism. Reviewed

    Hiroki Hanamori, Akihiro Kawamura, Ryo Kurazume

    IECON   1 - 6   2023.10   ISSN:2162-4704 ISBN:9798350331820 eISSN:2577-1647

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    Language:Others   Publishing type:Research paper (other academic)  

    It is difficult to automate the grasping of delicate fruits such as peaches, which require sensitive work. Envelope grasping is an effective approach for grasping such objects due to its large contact area with the object. A method to realize envelope grasping is the fingered gripper, which can perform grasping that follows the shape of the object through compliant interaction. However, this method has the problem that it is structurally difficult to fill the space between fingers. Another method of achieving enveloping grasp is to envelop the object by membrane. This method can touch the object without gap between fingers, but it is difficult to grasp unexpectedly large objects because it cannot deform as large as a fingered gripper. In this study, we propose a soft gripper that realizes envelope grasping while largely deforming several fingers. The proposed method opens and closes using the turning over of the hemispherical shell due to the 3D snap through buckling mechanism. By employing this mechanism, allowing all objects touching the edge of the hemispherical shell to be moved simultaneously and significantly, fingers arranged without gaps can be deformed largely. Another advantage is that it requires no energy to maintain the grasping state due to its bistable, snap through buckling characteristics. In this paper, we present a design methodology based on specific examples and an evaluation of performance.

    DOI: 10.1109/IECON51785.2023.10312018

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    Other Link: https://dblp.uni-trier.de/db/conf/iecon/iecon2023.html#HanamoriKK23

  • FusionNet: A Frame Interpolation Network for 4D Heart Models. Reviewed

    Chujie Chang, Shoko Miyauchi, Ken'ichi Morooka, Ryo Kurazume, Óscar Martínez Mozos

    MTSAIL/LEAF/AI4Treat/MMMI/REMIA@MICCAI   14394   35 - 44   2023.10   ISSN:0302-9743 ISBN:978-3-031-47424-8 eISSN:1611-3349

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    Language:Others   Publishing type:Research paper (other academic)  

    Cardiac magnetic resonance (CMR) imaging is widely used to visualise cardiac motion and diagnose heart disease. However, standard CMR imaging requires patients to lie still in a confined space inside a loud machine for 40–60 min, which increases patient discomfort. In addition, shorter scan times decrease either or both the temporal and spatial resolutions of cardiac motion, and thus, the diagnostic accuracy of the procedure. Of these, we focus on reduced temporal resolution and propose a neural network called FusionNet to obtain four-dimensional (4D) cardiac motion with high temporal resolution from CMR images captured in a short period of time. The model estimates intermediate 3D heart shapes based on adjacent shapes. The results of an experimental evaluation of the proposed FusionNet model showed that it achieved a performance of over 0.897 in terms of the Dice coefficient, confirming that it can recover shapes more precisely than existing methods. This code is available at: https://github.com/smiyauchi199/FusionNet.git.

    DOI: 10.1007/978-3-031-47425-5_4

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    Other Link: https://dblp.uni-trier.de/db/conf/miccai/misail2023.html#ChangMMKM23

  • LiDAR Data Synthesis with Denoising Diffusion Probabilistic Models.

    Kazuto Nakashima, Ryo Kurazume

    CoRR   abs/2309.09256   2023.9

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  • Evaluation of ground stiffness using multiple accelerometers on the ground during compaction by vibratory rollers Reviewed

    Y. Tamaishi, K. Fukuda, K. Nakashima, R. Maeda, K. Matsumoto, R. Kurazume

    Proceedings of the International Symposium on Automation and Robotics in Construction   262 - 269   2023.7   ISBN:9780645832204 eISSN:2413-5844

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    Soil compaction is one of the most important basic elements in construction work because it directly affects the quality of structures. Compaction work using vibratory rollers is generally applied to strengthen ground stiffness, and the method that focuses on the number of compaction cycles is widely used to manage the ground stiffness by vibratory rollers. In contrast to this method, the continuous compaction control (CCC) using accelerometers installed on the vibratory rollers has been proposed as a quantitative evaluation method more suited to actual ground conditions. This method quantifies the distortion rate of the acceleration waveform of the vibratory roller. However, this method based on acceleration response has problems in measurement discrimination accuracy and sensor durability because the accelerometer is installed on the vibration roller, which is the source of vibration. In this paper, we propose a new ground stiffness evaluation method using multiple accelerometers installed on the ground surface. The proposed method measures the acceleration response during compaction work by vibratory rollers using multiple accelerometers on the ground surface. Experiments show the proposed method has a higher discrimination than the conventional methods.

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  • Augmented reality-based affective training for improving care communication skill and empathy. Reviewed International journal

    Atsushi Nakazawa, Miyuki Iwamoto, Ryo Kurazume, Masato Nunoi, Masaki Kobayashi, Miwako Honda

    PloS one   18 ( 7 )   e0288175   2023.7   ISSN:1932-6203 eISSN:1932-6203

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    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.

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  • Personalized Federated Learning for Institutional Prediction Model using Electronic Health Records: A Covariate Adjustment Approach. Reviewed

    Shinji Tarumi, Mayumi Suzuki, Hanae Yoshida, Shoko Miyauchi, Ryo Kurazume

    EMBC   1 - 4   2023.7   ISSN:1557-170X ISBN:979-8-3503-2447-1 eISSN:1558-4615

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    Federated learning (FL) has attracted attention as a technology that allows multiple medical institutions to collaborate on AI without disclosing each other's patient data. However, FL has the challenge of being unable to robustly learn when the data of participating clients is non-independently and non-identically distributed (Non-IID). Personalized Federated Learning (PFL), which constructs a personalized model for each client, has been proposed as a solution to this problem. However, conventional PFL methods do not ensure the interpretability of personalization, specifically, the identification of which data samples are contributed to each personalized learning, which is important for AI in medical applications. In this study, we propose a novel PFL framework, Federated Adjustment of Covariate (FedCov), which acquires a propensity score model representing the covariate shift among clients through prior FL, then learns a final model by weighting the contribution of each training sample to PFL based on the estimated propensity score. This approach enables both the learning of personalized models through covariate adjustment and the visualization of the contribution of each client to PFL. FedCov was evaluated in the prediction of in-hospital mortality across 50 hospitals in the eICU Collaborative Research Database, achieving an ROC-AUC of 0.750. This result outperformed the AUCs in the 0.720-0.735 range achieved by conventional FL methods and was closest to the AUC of 0.754 achieved by centralized learning.Clinical Relevance - This study demonstrates the feasibility of providing sophisticated and personalized AI-driven clinical decision support to any medical institution through personalized federated learning.

    DOI: 10.1109/EMBC40787.2023.10339940

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  • Teleoperation by seamless transitions in real and virtual world environments Reviewed

    Junki Aoki, Fumihiro Sasaki, Ryota Yamashina, Ryo Kurazume

    Robotics and Autonomous Systems   164   2023.6   ISSN:0921-8890 eISSN:1872-793X

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    This study investigates operability and acceptability issues in the teleoperation of robots. Prior studies have proposed efficient approaches to increase human perceptual ability and robot autonomy but with reduced operability and acceptance. We propose a novel teleoperation method that overcomes the weaknesses of existing approaches while inheriting their strengths. The key feature of our method is switching the teleoperated robot world from real to virtual. The user study results showed that the proposed method offered an improved user experience compared to the conventional methods, while task efficiency was equivalent in all methods. The contributions of this paper include the proposal of the teleoperation method by seamless switching between real and virtual space, the proposal of an image transformation method and visual effect to achieve seamless switching, and verification of the practicality of the proposed system through experiments on actual mobile robots.

    DOI: 10.1016/j.robot.2023.104405

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  • Diagnostic support system for coronary artery disease using dynamic heart shapes and patient metadata Reviewed

    Shunsuke Takashima, Shoko Miyauchi, Kenʼichi Morooka, Ryo Kurazume

    Computer Assisted Radiology and Surgery (CARS) 2023   2023.6

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  • Generative Range Imaging for Learning Scene Priors of 3D LiDAR Data. Reviewed

    Kazuto Nakashima, Yumi Iwashita, Ryo Kurazume

    WACV   1256 - 1266   2023.1   ISSN:2472-6737 ISBN:978-1-6654-9346-8

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    3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular resolution and missing properties. Existing studies have tackled the issue by learning inter-domain mapping, while the transferability is constrained by the training configuration and the training is susceptible to peculiar lossy noises called ray-drop. To address the issue, this paper proposes a generative model of LiDAR range images applicable to the data-level domain transfer. Motivated by the fact that LiDAR measurement is based on point-by-point range imaging, we train an implicit image representation-based generative adversarial networks along with a differentiable ray-drop effect. We demonstrate the fidelity and diversity of our model in comparison with the point-based and image-based state-of-the-art generative models. We also showcase upsampling and restoration applications. Furthermore, we introduce a Sim2Real application for LiDAR semantic segmentation. We demonstrate that our method is effective as a realistic ray-drop simulator and outperforms state-of-the-art methods.

    DOI: 10.1109/WACV56688.2023.00131

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  • Development of a Bolt Type Force Sensor using Strain Gauges for Sport Climbing. Reviewed

    Akihiro Kawamura, Takato Nakashima, Masakado Danjo, Ryo Kurazume

    IEEE/SICE International Symposium on System Integration(SII)   1 - 4   2023.1   ISSN:2474-2317 ISBN:979-8-3503-9868-7

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    This paper proposes a novel bolt type force sensor that measures forces applied to an object fixed by the sensor. This sensor consists of a iron bolt and four strain gauges and can be made inexpensively compared to a 6-axis force sensor. Due to the feature of the bolt type sensor, it can measure the force applied to the object without dedicated holds, extra jigs, gaps between holds and walls. Therefore, the sensor can be applied to existing climbing holds without changes of difficulty of climbing problems. In this paper, the structure of the sensor is introduced and its calibration method is discussed. Finally, a force measurement experiments are conducted, and it was confirmed that the sensor is able to achieve highly accurate force estimation in practical situations.

    DOI: 10.1109/SII55687.2023.10039421

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  • Indoor Position Estimation using NLoS Information by Wireless Distance Sensors. Reviewed

    Tomoya Itsuka, Ryo Kurazume

    IEEE/SICE International Symposium on System Integration(SII)   1 - 6   2023.1   ISSN:2474-2317 ISBN:979-8-3503-9868-7

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    This paper proposes a method for non-line-of-sight (NLoS) position estimation utilizing wireless distance sensors. Recently, the accuracy of wireless distance sensors that use ultra-wideband (UWB) or ultrasonic technologies to measure the distance between two sensor devices has increased significantly. By placing these sensors in the environment, it is possible to precisely determine the position of mobile robots in indoor environments. Owing to reflections in the environment, these sensors have a large measurement error in NLoS conditions, limiting their applicability to environments that satisfy the line-of-sight (LoS) condition. This study aims to develop a stable method for estimating the position of mobile robots in indoor environments, including NLoS conditions, using wireless distance sensors. Experiments were conducted in two real environments: one with obstacles in front of the beacon and one with dynamic obstacles. In both cases, the combining 2D-LiDAR and wireless distance sensors using the proposed method considering NLOS was more accurate than the method considering LoS only.

    DOI: 10.1109/SII55687.2023.10039195

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  • Analysis of Force Applied to Horizontal and Vertical Handrails with Impaired Motor Function. Reviewed

    Ryoya Kihara, Qi An, Kensuke Takita, Shu Ishiguro, Kazuto Nakashima, Ryo Kurazume

    SII   1 - 6   2023.1   ISSN:2474-2317 ISBN:979-8-3503-9868-7

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    People depend on medical equipment to support their movements when their motor function declines. Our previous study developed a method to estimate motor function from the force applied to a vertical handrail while standing. However, the effect of the handrail direction on movement remains unclear. Additionally, the force applied to the handrail and floor reaction forces on the buttocks and feet may also change with a decline in motor function. Here, this study constructed a system with force plates and handles in both the horizontal and vertical directions to measure the forces applied to the handrails, buttocks, and feet. Furthermore, the change in accuracy of the estimation of motor function, depending on the direction of the handrails and input information, was investigated. In the experiment, healthy participants stood up using a handrail with unrestricted movement and while wearing elderly experience kits that artificially impaired their motor function. The results showed that people exert more downward force on horizontal handrails than on vertical handrails. However, people rely on the vertical handrail for a longer period of time to stabilize anterior-posterior movement. These results indicate that different directions of handrails cause different strategies of the standing-up motion. Additionally, the accuracy of the estimation of motor function improved when the horizontal handrail was used rather than the vertical handrail. This suggests that the classification accuracy could be improved by using different handrail directions, depending on the subject's condition and standing-up motion.

    DOI: 10.1109/SII55687.2023.10039452

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  • Development of Autonomous Mobile Mowing Robot Using High-Precision GNSS

    MATSUMOTO Kohei, OHKI Takahiro, WATANABE Takashi, SHITAKUBO Ryu, KODAMA Naoto, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023 ( 0 )   2P1-B03   2023   eISSN:24243124

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    <p>We have been working on the realization of an autonomous mowing robot to automate weeding work, which is an essential part of agriculture. The robot developed so far can do mowing work in open environments by localization using high-precision GNSS and performing exhaustive sweeping of the work area. This paper reports on the third robot, which is newly equipped with a Visual SLAM camera, and a path following algorithm is implemented to assume use in environments that are difficult to benefit from GNSS.</p>

    DOI: 10.1299/jsmermd.2023.2p1-b03

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  • Development of a multi-robot system for illuminance measurement

    NISHIURA Yuki, SAKEMI Kazuyuki, FURUNO Junji, FUKUDA Takako, IKEDA Yoshiaki, MATSUMOTO Kohei, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023 ( 0 )   1A1-B03   2023   eISSN:24243124

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    <p>In facility construction of a building, illuminance measurement is required to verify that the illuminance condition satisfies JIS regulations before its completion. In order to perform illuminance measurement accurately, measurements are conducted at night, causing long working hours at night. In this paper, we propose an autonomous illuminance measurement robot system consisting of multiple robots. The experiments show that the measurement errors of illuminance compared to the human measurements is 1.36% and the measurement time is reduced about 12%.</p>

    DOI: 10.1299/jsmermd.2023.1a1-b03

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  • ROS2-TMS for Construction: CPS platform for earthwork sites

    MAEDA Ryuichi, ITSUKA Tomoya, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023 ( 0 )   1P1-B03   2023   eISSN:24243124

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    <p>The civil engineering and construction industry has seen an increase in occupational accidents in recent years. Although several systems to improve the efficiency of earthwork operations have been developed, they have not directly involved in improving safety. The objective of this study is to explore the use of a cyber-physical system (CPS) to improve both the efficiency and safety of earthwork operations. The CPS platform should have a function to store and manage environmental information in a database. The ROS2-TMS, which is the CPS platform for service robots, satisfies this requirement. However, the ROS2-TMS cannot handle environmental information specific to earthwork sites, such as terrain and ground data. Therefore, in this research, we developed an improved version of ROS2-TMS named ROS2-TMS for Construction that can store and manage site-specific environmental information in a database. Additionally, we developed a VR interface to visualize the stored environmental information.</p>

    DOI: 10.1299/jsmermd.2023.1p1-b03

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  • Development of Outdoor Surveillance Mobile Robot System

    DANJO Masakado, MATSUMOTO Kohei, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023 ( 0 )   1A1-I02   2023   eISSN:24243124

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    <p>In this study, we developed an outdoor surveillance robot system using public 5G. The robot patrolling outdoors is connected to a remote observer via 5G and ROS2, and the observer control the robot while monitoring camera images remotely. We tested three network configurations to realize remote communication. Experiments for remote autonomous surveillance were conducted.</p>

    DOI: 10.1299/jsmermd.2023.1a1-i02

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  • Teleoperation Method by Illusion of Human Intention and Time

    AOKI Junki, SASAKI Fumihiro, YAMASHINA Ryota, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023 ( 0 )   2A2-I02   2023   eISSN:24243124

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    <p>Illusory control (IC) that is teleoperation method we proposed was based on the premise that the virtual environment is prepared in advance. Therefore, the mobile robot using IC can function only in known environment. This paper presents ”Instant illusory control” that no need to prepare the virtual environment in advance. The proposed robot system can instantly create a virtual environment from real images of the robot in motion using Instant NGP as one of methods in Neural Radiance Fields. Additionally, using 360-degree images, the environment around the robot can be comprehensively virtualized without demanding on the camera poses. Furthermore, using the depth estimation result of the images in advance for the optimization of the density of neural radiance fields, the reconstruction accuracy at unknown poses is ensured as well. Using this virtual environment instantly created, teleoperation by transition between real and virtual environments is expected to function in unknown environment. The experimental result shows that the proposed system can achieve a consistent back and forth between virtual and real spaces in mobile robot teleoperation.</p>

    DOI: 10.1299/jsmermd.2023.2a2-i02

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  • Mobile Robot Navigation in Dynamic Environments by Offline Reinforcement Learning using Flow-Based Generative Model

    MATSUMOTO Kohei, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023 ( 0 )   2A2-G01   2023   eISSN:24243124

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    <p>We propose a novel navigation method applying an offline reinforcement learning method based on Implicit Policy Constraint to mobile robot navigation in environments with pedestrians. The proposed method utilizes a flow-based generative model for the behavior policy, and the latent policy is trained using a method based on Advantage-Weighted Regression. The proposed method is evaluated in a simulation environment.</p>

    DOI: 10.1299/jsmermd.2023.2a2-g01

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  • Human Pose Estimation Using RGBD Images

    MORINAGA Wataru, KAWAMURA Akihiro, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023 ( 0 )   2A2-H01   2023   eISSN:24243124

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    <p>This paper presents a method to improve the accuracy of human pose estimation using RGBD images. 3D pose estimation based on mapping depth images to RGB images has a problem. It is the error in the depth direction caused by the low accuracy of the depth image and the fact that the estimated points are on the surface of the body. This paper proposes a method to improve the accuracy by using a correction algorithm based on ICP. The method consists of a measurement system that measures RGBD images and estimates human posture, and a correction algorithm using ICP.</p>

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  • Illusory Control with Instant Virtual World Environment Reviewed

    Junki Aoki, Fumihiro Sasaki, Ryota Yamashina, Ryo Kurazume

    Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics   1474 - 1481   2023   ISSN:1062-922X ISBN:9798350337020

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    We proposed a teleoperation method, illusory control (IC), that provides a comfortable operation experience using a seamless transition between real and pre-prepared virtual environments. Therefore, the mobile robot with IC could function solely in familiar environments. To make IC applicable in unfamiliar environments, this study proposes a novel method, instant IC, that eliminates the requirement for a pre-prepared virtual environment. The proposed robot system can instantly generate a virtual environment using actual 360° images of the robot in motion, utilizing instant neural graphics primitives and neural radiance fields. The 360° images allow the entire surrounding environment to be virtualized without requiring specific camera orientations. In addition, by optimizing the density of neural radiance fields using depth estimation results beforehand, the reconstruction accuracy at unknown poses can be guaranteed. Furthermore, we propose a depth scaling method based on the actual measurements obtained by LiDAR to increase the consistency of virtual and real environments. With this instant virtual environment, the proposed system enables teleoperation in unknown environments via the seamless transition between real and virtual environments. The experimental results exhibit consistent and smooth back-and-forth transitions between virtual and real space in mobile robot teleoperation.

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  • Simulated communication skills training program effects using augmented reality with real-time feedback: A randomized control study Reviewed International journal

    Masaki Kobayashi, Miyuki Iwamoto, Saki Une, Ryo Kurazume, Atsushi Nakazawa, Miwako Honda

    18 ( S8 )   2022.12

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  • Simulated communication skills training program effects using augmented reality with real‐time feedback: A randomized control study Reviewed

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    Abstract

    Background

    While communication with dementia patients is challenging, known educational methods to improve communication skill for medical professionals are lacking. Our study aimed to assess the efficacy of simulated communication skills training for nursing students using augmented reality (AR) with real‐time feedback.

    Methods

    This is a randomized control study. Twenty‐five nursing students enrolled and learned standardized multimodal comprehensive care communication skills through a self‐learning material, which includes pathophysiology and clinical manifestations of dementia. Subsequently, participants were randomly assigned to one of the two learning systems—AR training or conventional nursing mannequin training. Each group had the training intervention to change the clothes of mannequins for one hour. The mannequin of the AR group was a superimposed computer graphic of an elderly woman’s face which reacted to participants' communication. Further, the communication skills of gaze and voice were evaluated by artificial intelligence (AI) and feedbacked to the participants’ head‐mounted display in real‐time. The conventional training group had the self‐training with nursing mannequins. All participants performed basic nursing care, including changing clothes and bed bath, to simulated patients before and after the training intervention, which were video‐recorded by an eye‐tracking camera and a fixed camera, then the videos were analyzed the communication skills by AI. Additionally, participants' empathy to patients was evaluated by the Jefferson Scale of Empathy‐Health Professions Students Version (JSPE‐HSP). The primary outcome was the proportion of time spent in eye contact during the care to simulated patients. The secondary outcome was the empathy score of JSPE‐HSP.

    Results

    After the training intervention, the proportion of time spent in eye contact in the AR training group significantly increased than the conventional training group (eye contact 13.6% versus 4.4%, P<0.05). Moreover, the JSPE‐HSP score increased from pre‐training to post‐training in the AR training group, whereas it decreased in the conventional training group [Mean (SD): 9.1 (6.6) versus ‐1.3 (3.8), P<0.01].

    Conclusions

    The simulated communication skills training for nursing students using augmented reality with real‐time feedback was associated with increased interactive communication skills to simulated patients and the empathy to patients.

    DOI: 10.1002/alz.062055

  • THE EFFECT OF COMMUNICATION SKILLS TRAINING FOR NURSING STUDENTS BY AUGMENTED REALITY SIMULATION SYSTEM Reviewed

    Masaki Kobayashi, Miyuki Iwamoto, Saki Une, Ryo Kurazume, Atsushi Nakazawa, Miwako Honda

    INNOVATION IN AGING   6   440 - 440   2022.11

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  • THE EFFECT OF COMMUNICATION SKILLS TRAINING FOR NURSING STUDENTS BY AUGMENTED REALITY SIMULATION SYSTEM

    Kobayashi, M; Iwamoto, M; Une, S; Kurazume, R; Nakazawa, A; Honda, M

    INNOVATION IN AGING   6   440 - 440   2022.11   eISSN:2399-5300

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  • Understanding Humanitude Care for Sit-to-stand Motion by Wearable Sensors. Reviewed

    Qi An, Akito Tanaka, Kazuto Nakashima, Hidenobu Sumioka, Masahiro Shiomi, Ryo Kurazume

    SMC   2022-October   1874 - 1879   2022.9   ISSN:1062-922X ISBN:9781665452588

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    Assisting patients with dementia is a significant social issue. Currently, to assist patients with dementia, a multimodal care technique called Humanitude is gaining popularity. In Humanitude, the patients are assisted through various techniques to stand up independently by utilizing their motor functions as much as possible. Humanitude care techniques encourage caregivers to increase the area of contact with patients during the sit-to-stand motion. However, Humanitude care techniques are not accurately performed by novice caregivers. Therefore, in this study, a smock-type wearable sensor was developed to measure the proximity between caregivers and care recipients during sit-to-stand motion assistance. A measurement experiment was conducted to evaluate the proximity differences between Humanitude care and simulated novice care. In addition, the effects of different care techniques on the center of mass (CoM) trajectory and muscle activity of the care recipients were investigated. The results showed that the caregivers tend to bring their top and middle trunk closer in Humanitude care compared with novice simulated care. Furthermore, it was observed that the CoM trajectory and muscle activity under Humanitude care were similar to those observed when the care recipient stands up independently. These results validate the effectiveness of Humanitude care and provide useful information for teaching techniques in Humanitude.

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  • Development of AR training systems for Humanitude dementia care Reviewed International journal

    Ryo Kurazume, Tomoki Hiramatsu, Masaya Kamei, Daiji Inoue, Akihiro Kawamura, Shoko Miyauchi, and Qi An

    Advanced Robotics   36 ( 7 )   344 - 358   2022.4   ISSN:0169-1864 eISSN:1568-5535

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  • Development of ROS2-TMS: New Software Platform for Informationally Structured Environment Reviewed International journal

    Tomoya Itsuka, Minsoo Song, Akihiro Kawamura, and Ryo Kurazume

    ROBOMECH Journal   9 ( 1 )   2022.1   ISSN:2197-4225 eISSN:2197-4225

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    This study proposes a new software platform, called ROS2-TMS, for an informationally structured environment. An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots. Thus far, we have been developing a software platform, named ROS-TMS, for an informationally structured environment, which connects various sensors and robots using ROS architecture. In recent years, ROS2, a next-generation version of ROS, has been released. ROS2 has many advantages, such as enhanced security, QoS control, and support for various platforms. ROS2-TMS, a new version of ROS-TMS, is developed not only by porting existing modules in ROS-TMS, such as the control system for a communication robot, but also by adding useful functions utilizing new features in ROS2. For instance, we added a voice user interface to control robots and various devices in the environment, such as lights or a bed. In addition, we implemented a new task scheduler that provides a cancelation function to stop running tasks and improve the security of the platform.

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  • Mobile Robot Navigation Using Learning-Based Method Based on Predictive State Representation in a Dynamic Environment. Reviewed

    Kohei Matsumoto, Akihiro Kawamura, Qi An, Ryo Kurazume

    SII   499 - 504   2022.1

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    DOI: 10.1109/SII52469.2022.9708775

  • Gait Recognition using Identity-Aware Adversarial Data Augmentation. Reviewed

    Koki Yoshino, Kazuto Nakashima, Jeongho Ahn, Yumi Iwashita, Ryo Kurazume

    SII   596 - 601   2022.1

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    DOI: 10.1109/SII52469.2022.9708776

  • Development of a Chair to Support Human Standing Motion -Seat movement mechanism using zip chain actuator-. Reviewed

    Yamato Kuroda, Qi An, Hiroshi Yamakawa, Shingo Shimoda, Jun-ichiro Furukawa, Jun Morimoto, Yuichi Nakamura, Ryo Kurazume

    SII   555 - 560   2022.1

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    DOI: 10.1109/SII52469.2022.9708891

  • 2V-Gait: Gait Recognition using 3D LiDAR Robust to Changes in Walking Direction and Measurement Distance. Reviewed

    Jeongho Ahn, Kazuto Nakashima, Koki Yoshino, Yumi Iwashita, Ryo Kurazume

    SII   602 - 607   2022.1

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    DOI: 10.1109/SII52469.2022.9708899

  • Generative Range Imaging for Learning Scene Priors of 3D LiDAR Data. Reviewed

    Kazuto Nakashima, Yumi Iwashita, Ryo Kurazume

    CoRR   abs/2210.11750   2022.1

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    DOI: 10.48550/arXiv.2210.11750

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  • Preface to Special Issue on the 21st SICE System Integration Division Annual Conference

    USHIMI Nobuhiro, KURAZUME Ryo, MURAKAMI Kouji, NISHIMURA Yuki

    Transactions of the Society of Instrument and Control Engineers   58 ( 1 )   1 - 1   2022.1   ISSN:04534654 eISSN:18838189

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    Preface to Special Issue on the 21st SICE System Integration Division Annual Conference

    DOI: 10.9746/sicetr.58.1

    CiNii Research

  • Soft Gripper Using 3D Snap-Through Buckling for Perishable Fresh Fruits Handling Reviewed International journal

    Hiroki Hanamori, Akihiro Kawamura, Ryo Kurazume

    27th International Symposium on Artificial Life and Robotics (AROB 27th 2022)   2022.1

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  • Mobile Robot Navigation using Learning-based Method based on Predictive State Representation in a Dynamic Environment Reviewed International journal

    Kohei Matsumoto, Akihiro Kawamura, Qi An, Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)   499 - 504   2022.1

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    DOI: 10.1109/SII52469.2022.9708775

  • Gait Recognition using Identity-Aware Adversarial Data Augmentation Reviewed International journal

    Koki Yoshino, Kazuto Nakashima, Jeongho Ahn, Yumi Iwashita, Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)   596 - 601   2022.1

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    DOI: 10.1109/SII52469.2022.9708776

  • 2V-Gait: Gait Recognition using 3D LiDAR Robust to Changes in Walking Direction and Measurement Distance Reviewed International journal

    Jeongho Ahn, Kazuto Nakashima, Koki Yoshino, Yumi Iwashita, Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)   602 - 607   2022.1

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    DOI: 10.1109/SII52469.2022.9708899

  • Development of a Chair to Support Human Standing Motion -Seat movement mechanism using zip chain actuator- Reviewed International journal

    Yamato Kuroda, Qi An, Hiroshi Yamakawa, Shingo Shimoda, Jun-ichiro Furukawa, Jun Morimoto, Yuichi Nakamura, Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)   555 - 560   2022.1

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    DOI: 10.1109/SII52469.2022.9708891

  • Artificial intelligence for segmentation of bladder tumor cystoscopic images performed by U-Net with dilated convolution. Reviewed International journal

    Jun Mutaguchi, Ken Ichi Morooka, Satoshi Kobayashi, Aiko Umehara, Shoko Miyauchi, Fumio Kinoshita, Junichi Inokuchi, Yoshinao Oda, Ryo Kurazume, Masatoshi Eto

    Journal of endourology   36 ( 6 )   827 - 834   2022.1   ISSN:0892-7790 eISSN:1557-900X

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    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.

    DOI: 10.1089/end.2021.0483

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  • Soft Gripper Using 3D Snap-Through Buckling for Perishable Fresh Fruits Handling Reviewed International journal

    Hiroki Hanamori, Akihiro Kawamura, Ryo Kurazume

    27th International Symposium on Artificial Life and Robotics (AROB 27th 2022)   2022.1

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  • Development of Distributed Sensor Pods for Evaluation of Compacted Ground

    FUKUDA Kentaro, NAKASHIMA Kazuto, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2022 ( 0 )   1A1-E04   2022   eISSN:24243124

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    <p>In this study, we develop a sensor terminal with multiple and various sensors named sensor pod, which collects various environmental information at a construction site. The sensor pod is equipped with a 3D-LiDAR and a vibration sensor, which can be used to predict the surrounding hazards and evaluate the ground stiffness. In this paper, we introduce a method of evaluating ground stiffness using the waveform distortion of multi-point synchronized vibration data obtained by the distributed sensor pods.</p>

    DOI: 10.1299/jsmermd.2022.1a1-e04

    CiNii Research

  • Teleoperation Method by Illusion of Human Intention and Time

    AOKI Junki, YAMASHINA Ryota, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2022 ( 0 )   2P2-G06   2022   eISSN:24243124

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    <p>This paper presents a novel teleoperation method called “Illusory control” to address the problem of reduced acceptance due to the disagreement between human and robot intentions in shared control. We have reported the simulation results of the teleoperation behavior using Illusory control. This paper describes the improvements of the proposed system and shows the results of experiments using an actual robot and realistic virtual images by CycleGAN.</p>

    DOI: 10.1299/jsmermd.2022.2p2-g06

    CiNii Research

  • Development of Retrofit Type Backhoe Remote Control System

    NISHIURA Yuki, NAKASHIMA Kazuto, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2022 ( 0 )   1P1-C07   2022   eISSN:24243124

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    <p>This paper presents a retrofit backhoe remote control system that is inexpensive, compact, and easy to install. The system consists of a remote control system using a teleoperation system embedded by a construction machinery manufacturer and a small robot arm, and a remote sensing system using a multi-core microcomputer.</p>

    DOI: 10.1299/jsmermd.2022.1p1-c07

    CiNii Research

  • Classification of Motor Impairments of Post-stroke Patients based on Force Applied to a Handrail Reviewed International journal

    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

    IEEE Transactions on Neural Systems and Rehabilitation Engineering   29   2399 - 2406   2021.11

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    DOI: 10.1109/TNSRE.2021.3127504

  • Classification of Motor Impairments of Post-Stroke Patients Based on Force Applied to a Handrail. Reviewed International journal

    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

    IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society   29   2399 - 2406   2021.11

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    DOI: 10.1109/TNSRE.2021.3127504

  • Learning to Drop Points for LiDAR Scan Synthesis. Reviewed International journal

    Kazuto Nakashima, Ryo Kurazume

    CoRR   abs/2102.11952   2021.10

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  • Learning to Drop Points for LiDAR Scan Synthesis. Reviewed

    Kazuto Nakashima, Ryo Kurazume

    IROS   222 - 229   2021.9

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    DOI: 10.1109/IROS51168.2021.9636747

  • Speed invariant gait recognition-The enhanced mutual subspace method Reviewed International journal

    Yumi Iwashita, Hitoshi Sakano, Ryo Kurazume, Adrian Stoica

    PLoS ONE   16 ( 8 August )   e0255927   2021.8

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    DOI: 10.1371/journal.pone.0255927

  • Teleoperation Method by Illusion of Human Intention and Time Reviewed International journal

    Junki Aoki, Ryota Yamashina, and Ryo Kurazume

    2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)   ( 8 August )   482 - 487   2021.8

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    DOI: 10.1109/RO-MAN50785.2021.9515457

  • Modeling of hyper-adaptability: from motor coordination to rehabilitation Reviewed

    Harry Eberle, Yoshikatsu Hayashi, Ryo Kurazume, Tomohiko Takei, Qi An

    Advanced Robotics   35 ( 13-14 )   802 - 817   2021.6

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    DOI: 10.1080/01691864.2021.1943710

  • Development of a tour guide and co-experience robot system using the quasi-zenith satellite system and the 5th-generation mobile communication system at a Theme Park Reviewed

    Kohei Matsumoto, Hiroyuki Yamada, Masato Imai, Akihiro Kawamura, Yasuhiro Kawauchi, Tamaki Nakamura, Ryo Kurazume

    ROBOMECH Journal   8 ( 1 )   2021.2

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    DOI: 10.1186/s40648-021-00192-7

  • A deep learning-based method for predicting volumes of nasopharyngeal carcinoma for adaptive radiation therapy treatment Reviewed

    Bilel Daoud, Ken'ichi Morooka, Shoko Miyauchi, Ryo Kurazume, Wafa Mnejja, Leila Farhat, Jamel Daoud

    Proceedings - International Conference on Pattern Recognition   3256 - 3263   2021.1

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    DOI: 10.1109/ICPR48806.2021.9412924

  • Lifelogging caption generation via fourth-person vision in a human–robot symbiotic environment Reviewed

    7 ( 1 )   2020.12

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    Automatic analysis of our daily lives and activities through a first-person lifelog camera provides us with opportunities to improve our life rhythms or to support our limited visual memories. Notably, to express the visual experiences, the task of generating captions from first-person lifelog images has been actively studied in recent years. First-person images involve scenes approximating what users actually see; therein, the visual cues are not enough to express the user’s context since the images are limited by his/her intention. Our challenge is to generate lifelog captions using a meta-perspective called “fourth-person vision”. The “fourth-person vision” is a novel concept which complementary exploits the visual information from the first-, second-, and third-person perspectives. First, we assume human–robot symbiotic scenarios that provide a second-person perspective from the camera mounted on the robot and a third-person perspective from the camera fixed in the symbiotic room. To validate our approach in this scenario, we collect perspective-aware lifelog videos and corresponding caption annotations. Subsequently, we propose a multi-perspective image captioning model composed of an image-wise salient region encoder, an attention module that adaptively fuses the salient regions, and a caption decoder that generates scene descriptions. We demonstrate that our proposed model based on the fourth-person concept can greatly improve the captioning performance against single- and double-perspective models.

    DOI: 10.1186/s40648-020-00181-2

  • PO-1668: Can we use cascade deep learning for GTV delineation in adaptive radiotherapy for NPC? Reviewed

    B. Daoud, K. Morooka, R. Kurazume, N. Fourati, W. Mnejja, L. Farhat, J. Daoud

    Radiotherapy and Oncology   152   S916 - S916   2020.11

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    DOI: 10.1016/s0167-8140(21)01686-8

  • Virtual IR Sensing for Planetary Rovers: Improved Terrain Classification and Thermal Inertia Estimation Reviewed International journal

    @Yumi Iwashita, #Kazuto Nakashima, @Joseph Gatto, @Shoya Higa, @Norris Khoo, @Ryo Kurazume, @Adrian Stoica

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)   2020.10

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  • Near-future perception system: Previewed Reality Reviewed

    Asuka Egashira, Yuta Horikawa, Takuma Hayashi, Akihiro Kawamura, Ryo Kurazume

    Advanced Robotics   35 ( 1 )   19 - 30   2020.10

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    DOI: 10.1080/01691864.2020.1829041

  • Virtual IR Sensing for Planetary Rovers: Improved Terrain Classification and Thermal Inertia Estimation Reviewed

    Yumi Iwashita, Kazuto Nakashima, Joseph Gatto, Shoya Higa, Adrian Stoica, Norris Khoo, Ryo Kurazume

    IEEE Robotics and Automation Letters   5 ( 4 )   6302 - 6309   2020.10

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    DOI: 10.1109/LRA.2020.3013909

  • Development of dementia care training system based on augmented reality and whole body wearable tactile sensor Reviewed

    Tomoki Hiramatsu, Masaya Kamei, Daiji Inoue, Akihiro Kawamura, Qi An, Ryo Kurazume

    IEEE International Conference on Intelligent Robots and Systems   4148 - 4154   2020.10

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    DOI: 10.1109/IROS45743.2020.9341039

  • A Method for Predicting Dose Distribution of Nasopharyngeal Carcinoma Cases by Multiple Deep Neural Networks Reviewed

    Bilel Daoud, Ken'Ichi Morooka, Shoko Miyauchi, Ryo Kurazume, Wafa Mnejja, Leila Farhat, Jamel Daoud

    2020 Joint 9th International Conference on Informatics, Electronics and Vision and 2020 4th International Conference on Imaging, Vision and Pattern Recognition, ICIEV and icIVPR 2020   2020.8

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    DOI: 10.1109/ICIEVicIVPR48672.2020.9306610

  • Gait-based person identification using 3D LiDAR and long short-term memory deep networks Reviewed

    Hiroyuki Yamada, Jeongho Ahn, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume

    Advanced Robotics   34 ( 18 )   1201 - 1211   2020.7

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    DOI: 10.1080/01691864.2020.1793812

  • First-person Video Analysis for Evaluating Skill Level in the Humanitude Tender-Care Technique Reviewed

    Atsushi Nakazawa, Yu Mitsuzumi, Yuki Watanabe, Ryo Kurazume, Sakiko Yoshikawa, Miwako Honda

    Journal of Intelligent and Robotic Systems: Theory and Applications   98 ( 1 )   103 - 118   2020.4

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    DOI: 10.1007/s10846-019-01052-8

  • Special Issue on Elderly Care Robotics – Technology and Ethics Reviewed

    98 ( 1 )   3 - 4   2020.4

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    DOI: 10.1007/s10846-020-01148-6

  • A New 3D Motion and Force Measurement System for Sport Climbing Reviewed

    Hitomi Iguma, Akihiro Kawamura, Ryo Kurazume

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   1002 - 1007   2020.1

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    DOI: 10.1109/SII46433.2020.9026213

  • Quasi-Zenith Satellite System-based Tour Guide Robot at a Theme Park Reviewed

    Kohei Matsumoto, Hiroyuki Yamada, Masato Imai, Akihiro Kawamura, Yasuhiro Kawauchi, Tamaki Nakamura, Ryo Kurazume

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   1212 - 1217   2020.1

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    DOI: 10.1109/SII46433.2020.9025964

  • Development of mobile sensor terminals “Portable Go” for navigation in informationally structured and unstructured environments Reviewed

    6 ( 1 )   2019.12

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    DOI: 10.1186/s40648-019-0134-1

  • Spatial change detection using normal distributions transform Reviewed

    Ukyo Katsura, Kohei Matsumoto, Akihiro Kawamura, Tomohide Ishigami, Tsukasa Okada, Ryo Kurazume

    ROBOMECH Journal   6 ( 1 )   2953 - 2959   2019.12

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    DOI: 10.1186/s40648-019-0148-8

  • GAN-Based Method for Synthesizing Multi-focus Cell Images Reviewed

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   11994 LNCS   100 - 107   2019.11

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    DOI: 10.1007/978-3-030-39770-8_8

  • 3D Image Reconstruction from Multi-focus Microscopic Images Reviewed

    Takahiro Yamaguchi, Hajime Nagahara, Ken'ichi Morooka, Yuta Nakashima, Yuki Uranishi, Shoko Miyauchi, Ryo Kurazume

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   11994 LNCS   73 - 85   2019.11

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    DOI: 10.1007/978-3-030-39770-8_6

  • Dose distribution prediction for optimal treamtment of modern external beam radiation therapy for nasopharyngeal carcinoma Reviewed

    Daoud, B., Morooka, K., Miyauchi, S., Kurazume, R., Mnejja, W., Farhat, L., Daoud, J.

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   11850 LNCS   128 - 136   2019.10

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    DOI: 10.1007/978-3-030-32486-5_16

  • 3D segmentation of nasopharyngeal carcinoma from CT images using cascade deep learning Reviewed

    Bilel Daoud, Ken'ichi Morooka, Ryo Kurazume, Farhat Leila, Wafa Mnejja, Jamel Daoud

    Computerized Medical Imaging and Graphics   77   2019.10

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    DOI: 10.1016/j.compmedimag.2019.101644

  • MU-net: Deep learning-based thermal IR image estimation from RGB image Reviewed

    Yumi Iwashita, Kazuto Nakashima, Sir Rafol, Adrian Stoica, Ryo Kurazume

    IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops   2019-June   1022 - 1028   2019.6

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    DOI: 10.1109/CVPRW.2019.00134

  • Spatial change detection using voxel classification by normal distributions transform Reviewed

    Ukyo Katsura, Kohei Matsumoto, Akihiro Kawamura, Tomohide Ishigami, Tsukasa Okada, Ryo Kurazume

    Proceedings - IEEE International Conference on Robotics and Automation   2019-May   2953 - 2959   2019.5

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    DOI: 10.1109/ICRA.2019.8794173

  • Spatial change detection using voxel classification by normal distributions transform Reviewed

    Ukyo Katsura, Kohei Matsumoto, Akihiro Kawamura, Tomohide Ishigami, Tsukasa Okada, Ryo Kurazume

    2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   2953 - 2959   2019.5

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  • Development of an Inflatable Robotic Arm on Mobile Platform for Fetch-and-Give Tasks Reviewed

    Ryosuke Tatara, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

    Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019   707 - 711   2019.4

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    DOI: 10.1109/SII.2019.8700431

  • Sensor terminal 'Portable' for intelligent navigation of personal mobility robots in informationally structured environment Reviewed

    Hiroyuki Yamada, Tomoki Hiramatsu, Masato Imai, Akihiro Kawamura, Ryo Kurazume

    Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019   182 - 187   2019.4

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    DOI: 10.1109/SII.2019.8700446

  • Inflatable Robotic Arm with Overlaid Plastic Sheet Structure Reviewed

    Ryosuke Tatara, Kazuki Ebisu, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

    Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019   689 - 694   2019.4

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    DOI: 10.1109/SII.2019.8700329

  • Fukuoka datasets for place categorization. Reviewed

    Int. J. Robotics Res.   38 ( 5 )   507 - 517   2019.3

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    DOI: 10.1177/0278364919835603

  • Brain volume mapping for constructing volumetric statistical shape model

    Shoko Miyauchi, Ken'ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    Proceedings of SPIE - The International Society for Optical Engineering   11050   2019.3

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    DOI: 10.1117/12.2519819

  • TU-Net and TDeepLab: Deep Learning-Based Terrain Classification Robust to Illumination Changes, Combining Visible and Thermal Imagery. Reviewed

    Yumi Iwashita, Kazuto Nakashima, Adrian Stoica, Ryo Kurazume

    Proceedings - 2nd International Conference on Multimedia Information Processing and Retrieval, MIPR 2019   280 - 285   2019.3

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    DOI: 10.1109/MIPR.2019.00057

  • Ancient pelvis reconstruction from collapsed component bones using statistical shape models Reviewed

    Morooka, K., Matsubara, R., Miyauchi, S., Fukuda, T., Sugii, T., Kurazume, R.

    Machine Vision and Applications   30 ( 1 )   59 - 69   2019.2

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    DOI: 10.1007/s00138-018-0972-5

  • Volumetric Brain Model Mapping for Constructing Volume Statistical Shape Model Reviewed International journal

    2019 Joint International Workshop IWAIT-IFMIA   2019.1

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  • Fourth-Person Captioning: Describing Daily Events by Uni-supervised and Tri-regularized Training Reviewed

    Kazuto Nakashima, Yumi Iwashita, Akihiro Kawamura, Ryo Kurazume

    Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018   2122 - 2127   2019.1

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    DOI: 10.1109/SMC.2018.00365

  • Development of ROS-TMS 5.0 for informationally structured environment Reviewed

    Junya Sakamoto, Kouhei Kiyoyama, Kohei Matsumoto, Yoonseok Pyo, Akihiro Kawamura, Ryo Kurazume

    ROBOMECH Journal   5 ( 1 )   2018.12

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    DOI: 10.1186/s40648-018-0123-9

  • 3Dレーザースキャナによるリアルタイム遠方3Dトラッキングシステム(RobotEye RE05の新スキャン機能とリアルタイム3Dトラッキングのためのアルゴリズムの開発)

    高橋将史, 桑島茂純, 倉爪亮

    日本機械学会論文集(Web)   84 ( 866 )   2018.10

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  • 優しい介護インタラクションの計算的・脳科学的解明

    中澤篤志, 倉爪亮, 本田美和子, 佐藤弥, 石川翔吾, 吉川佐紀子, 伊藤美緒

    情報処理学会研究報告(Web)   2018 ( UBI-59 )   Vol.2018‐UBI‐59,No.6,1‐3 (WEB ONLY)   2018.8

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  • Virtual Sensors Determined Through Machine Learning Reviewed

    Yumi Iwashita, Adrian Stoica, Kazuto Nakashima, Ryo Kurazume, Jim Torresen

    World Automation Congress Proceedings   2018-June   318 - 321   2018.8

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    DOI: 10.23919/WAC.2018.8430480

  • Hexahedron Model Generation of Human Organ by Self-Organizing Deformable Model Reviewed

    Ken'ichi Morooka, Shoko Miyauchi, Xian Chen, Ryo Kurazume

    World Automation Congress Proceedings   2018-June   188 - 192   2018.8

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    DOI: 10.23919/WAC.2018.8430386

  • Learning geometric and photometric features from panoramic LiDAR scans for outdoor place categorization Reviewed

    Kazuto Nakashima, Hojung Jung, Yuki Oto, Yumi Iwashita, Ryo Kurazume, Oscar Martinez Mozos

    Advanced Robotics   32 ( 14 )   750 - 765   2018.7

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.1080/01691864.2018.1501279

  • Efficient Geometrical Feature Preserving Mapping for Organ Surface Mode Reviewed International journal

    Shoko Miyauchi, Ken'ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    2018 IEEE International Symposium on Biomedical Imaging   2018.4

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  • Fast modified Self-organizing Deformable Model: Geometrical feature-preserving mapping of organ models onto target surfaces with various shapes and topologies Reviewed International journal

    Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    Computer Methods and Programs in Biomedicine   157   237 - 250   2018.4

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    DOI: 10.1016/j.cmpb.2018.01.028

  • Motion control for robotic arm with rotational counterweights Reviewed

    Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

    SII 2017 - 2017 IEEE/SICE International Symposium on System Integration   2018-January   608 - 613   2018.2

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    DOI: 10.1109/SII.2017.8279288

  • Recognizing outdoor scenes by convolutional features of omni-directional LiDAR scans Reviewed

    Kazuto Nakashima, Seungwoo Nham, Hojung Jung, Yumi Iwashita, Ryo Kurazume, Oscar M. Mozos

    SII 2017 - 2017 IEEE/SICE International Symposium on System Integration   2018-January   387 - 392   2018.2

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    DOI: 10.1109/SII.2017.8279243

  • Motion Control for Robotic Arm with Rotational Counterweights Reviewed International journal

    Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume

    2017 IEEE/SICE International Symposium on System Integration (SII 2017)   2017.12

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  • Previewed reality: Near-future perception system Reviewed

    Yuta Horikawa, Asuka Egashira, Kazuto Nakashima, Akihiro Kawamura, Ryo Kurazume

    IEEE International Conference on Intelligent Robots and Systems   2017-September   370 - 375   2017.12

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    DOI: 10.1109/IROS.2017.8202181

  • Recognizing Outdoor Scenes by Convolutional Features of Omni-directional LiDAR Scans Reviewed International journal

    Kazuto Nakashima, Seungwoo Nham, Hojung Jung, Yumi Iwashita, Ryo Kurazume, Oscar Mozos

    2017 IEEE/SICE International Symposium on System Integration (SII 2017)   2017.12

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  • Feasibility study of IoRT platform "big Sensor Box" Reviewed

    Ryo Kurazume, Yoonseok Pyo, Kazuto Nakashima, Akihiro Kawamura, Tokuo Tsuji

    Proceedings - IEEE International Conference on Robotics and Automation   3664 - 3671   2017.7

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    DOI: 10.1109/ICRA.2017.7989420

  • Making gait recognition robust to speed changes using mutual subspace method Reviewed

    Yumi Iwashita, Mafune Kakeshita, Hitoshi Sakano, Ryo Kurazume

    Proceedings - IEEE International Conference on Robotics and Automation   2273 - 2278   2017.7

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    DOI: 10.1109/ICRA.2017.7989261

  • Brain Atlas Construction by Non-Rigid Registration of Brain Block Models Reviewed International journal

    Shoko Miyauchi, Ken'ichi Morooka, Sho Sasaki, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Kazuhiro Samura, Ryo Kurazume

    CARS 2017 Computer Assisted Radiology and Surgery   2017.6

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  • Making gait recognition robust to speed changes using mutual subspace method Reviewed International journal

    IEEE International Conference on Robotics and Automation (ICRA2017)   2017.5

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  • Object classification with range and reflectance data from a single laser scanner Reviewed

    Shuji Oishi, Naoaki Kondo, Ryo Kurazume

    Proceedings of SPIE - The International Society for Optical Engineering   10338   103380U   2017.5

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    DOI: 10.1117/12.2265178

  • Feasibility study of IoRT platform "Big Sensor Box" Reviewed International journal

    IEEE International Conference on Robotics and Automation (ICRA2017)   2017.5

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  • Automatic large-scale three dimensional modeling using cooperative multiple robots Reviewed

    Ryo Kurazume, Souichiro Oshima, Shingo Nagakura, Yongjin Jeong, Yumi Iwashita

    Computer Vision and Image Understanding   157   25 - 42   2017.4

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    DOI: 10.1016/j.cviu.2016.05.008

  • 情報構造化環境プラットフォームROS-TMSとBig Sensor Boxの提案 Reviewed

    Ryo Kurazume, ピョ ヨンソク, Tokuo Tsuji, 河村 晃宏

    日本ロボット学会誌   35   2017.3

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  • Stable aerial image registration for people detection from a low-altitude aerial vehicle Reviewed

    Yumi Iwashita, Yuki Takefuji, Ryo Kurazume

    2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings   4435 - 4439   2017.2

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    DOI: 10.1109/SMC.2016.7844929

  • Simulation of Deforming Human Tissue by Multiple Deep Neural Networks Reviewed International journal

    Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Kurazume Ryo, Kazuhiro Samura

    International Forum on Medical Imaging in Asia 2017   2017.1

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  • Deep learning-based prediction method for people flows and their anomalies Reviewed

    Shigeru Takano, Maiya Hori, Takayuki Goto, Seiichi Uchida, Ryo Kurazume, Rin Ichiro Taniguchi

    ICPRAM 2017 - Proceedings of the 6th International Conference on Pattern Recognition Applications and Methods   2017-January   676 - 683   2017.1

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    DOI: 10.5220/0006248806760683

  • Simulation of Deforming Human Tissue by Multiple Deep Neural Networks Reviewed

    The International Forum on Medical Imaging in Asia (IFMIA2017)   2017.1

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    Simulation of Deforming Human Tissue by Multiple Deep Neural Networks

  • A Method for Estimating Tissue Deformation by Deep Neural Network Reviewed

    The 12th Asian Conference on Computer Aided Surgery (ACCAS2016)   2017.1

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    A Method for Estimating Tissue Deformation by Deep Neural Network

  • Object tracking system by integrating multi-sensored data Reviewed International journal

    Kouji Murakami, Tokuo Tsuji, Tsutomu Hasegawa, Ryo Kurazume

    The 42nd Annual Conference of IEEE Industrial Electronics Society (IECON 2016)   2016.12

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  • Automatic houseware registration system for informationally-structured environment.

    Kazuto Nakashima, Julien Girard, Yumi Iwashita, Ryo Kurazume

    2016 IEEE/SICE International Symposium on System Integration(SII)   337 - 342   2016.12

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    DOI: 10.1109/SII.2016.7844021

  • Object tracking system by integrating multi-sensored data Reviewed

    Kouji Murakami, Tokuo Tsuji, Tsutomu Hasegawa, Ryo Kurazume

    IECON Proceedings (Industrial Electronics Conference)   747 - 754   2016.12

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    DOI: 10.1109/IECON.2016.7793355

  • Angle- and Volume-Preserving Mapping of Organ Volume Model Based on modified Self-organizing Deformable Model Reviewed International journal

    @Shoko Miyauchi, @Ken'ichi Morooka, @Tokuo Tsuji, @Yasushi Miyagi, @Takaichi Fukuda, @Ryo Kurazume

    23rd International Conference on Pattern Recognition (ICPR 2016)   2016.12

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  • Automatic Houseware Registration System for Informationally-Structured Environment Reviewed International journal

    Kazuto Nakashim, Girard Julien, Yumi Iwashita, Ryo Kurazume

    2016 IEEE/SICE International Symposium on System Integration (SII 2016)   2016.12

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  • Multi-modal panoramic 3D outdoor datasets for place categorization Reviewed

    Hojung Jung, Yuki Oto, Oscar M. Mozos, Yumi Iwashita, Ryo Kurazume

    IEEE International Conference on Intelligent Robots and Systems   2016-November   4545 - 4550   2016.11

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    DOI: 10.1109/IROS.2016.7759669

  • 広域的エッジによる立体内視鏡画像からの実時間3次元臓器形状復元 Reviewed

    堤田有美, 諸岡健一, IMBERY Julius, 辻徳生, 倉爪亮, 大内田研宙, 橋爪誠

    日本コンピュータ外科学会誌   18 ( 4 )   364 - 364   2016.11

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  • Stable aerial image registration for people detection from a low-altitude aerial vehicle Reviewed International journal

    Yumi Iwashita, Yuki Takefuji, Ryo Kurazume

    2016 IEEE International Conference on Systems, Man, and Cybernetics   2016.10

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  • Volume Representation of Parenchymatous Organs by Volumetric Self-organizing Deformable Model Reviewed International journal

    @Shoko Miyauchi, @Ken'ichi Morooka, @Tokuo Tsuji, @Yasushi Miyagi, @Takaichi Fukuda, @Ryo Kurazume

    MICCAI 2016 Workshop on Spectral and Shape Analysis in Medical Imaging   2016.10

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  • A Method for Estimating Tissue Deformation by Deep Neural Network Reviewed International journal

    Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Kurazume Ryo

    Asian Conference on Computer Aided Surgery (ACCAS 2016)   2016.10

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  • Multi-modal Panoramic 3D Outdoor Datasets for Place Categorization Reviewed International journal

    Hojung Jung, Yuki Oto, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume

    2016 IEEE/RSJ International Conference on Intelligent Robots and Systems   2016.10

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  • Automatic large-scale three dimensional modeling using cooperative multiple robots Reviewed International journal

    Ryo Kurazume, Souichiro Oshima, Shingo Nagakura, Yongjin Jeong, Yumi Iwashita

    Computer Vision and Image Understanding   2016.5

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    DOI: 10.1016/j.cviu.2016.05.008

  • Local N-ary Patterns: a local multi-modal descriptor for place categorization Reviewed International journal

    Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume

    Advanced Robotics   2016.3

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  • A method for mapping tissue volume model onto target volume using volumetric self-organizing deformable model Reviewed

    Shoko Miyauchi, Ken'Ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    Progress in Biomedical Optics and Imaging - Proceedings of SPIE   9784   97842Z   2016.3

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    DOI: 10.1117/12.2217367

  • Stable Image Registration for People Tracking from the Sky Reviewed

    Yumi Iwashita, Ryo Kurazume

    Proceedings - 2015 6th International Conference on Emerging Security Technologies, EST 2015   69 - 73   2016.3

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    DOI: 10.1109/EST.2015.14

  • Local N-ary Patterns: A local multi-modal descriptor for place categorization Reviewed

    Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume

    Advanced Robotics   30 ( 6 )   402 - 415   2016.3

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    DOI: 10.1080/01691864.2015.1120242

  • Control architecture for service drone in informationally structured environment Reviewed

    Farouk Ghallabi, Akihiro Kawamura, Yoonseok Pyo, Tokuo Tsuji, Ryo Kurazume

    2015 IEEE/SICE International Symposium on System Integration, SII 2015   611 - 618   2016.2

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    DOI: 10.1109/SII.2015.7405049

  • First-person activity recognition with C3D features from optical flow images Reviewed

    Asamichi Takamine, Yumi Iwashita, Ryo Kurazume

    2015 IEEE/SICE International Symposium on System Integration, SII 2015   619 - 622   2016.2

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    DOI: 10.1109/SII.2015.7405050

  • The Outdoor LiDAR Dataset for Semantic Place Labeling Reviewed International journal

    Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume

    The 2015 JSME/RMD International Conference on Advanced Mechatronics (ICAM2015)   2015.12

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  • Control Architecture for Service Drone in Informationally Structured Environment Reviewed International journal

    Ghallabi Farouk, Akihiro Kawamura, Yoonseok Pyo, Tokuo Tsuji, Kurazume Ryo

    2015 IEEE/SICE International Symposium on System Integration (SII 2015)   2015.12

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  • First-Person Activity Recognition with C3D Features from Optical Flow Images Reviewed International journal

    Asamichi Takamine, Yumi Iwashita, Ryo Kurazume

    2015 IEEE/SICE International Symposium on System Integration (SII 2015)   2015.12

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  • Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system Reviewed

    Souichiro Oshima, Shingo Nagakura, Jeong Yongjin, Akihiro Kawamura, Yumi Iwashita, Ryo Kurazume

    IEEE International Conference on Intelligent Robots and Systems   2015-December   4437 - 4444   2015.12

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    DOI: 10.1109/IROS.2015.7354007

  • Service robot system with an informationally structured environment Reviewed

    Yoonseok Pyo, Kouhei Nakashima, Shunya Kuwahata, Ryo Kurazume, Tokuo Tsuji, Ken'ichi Morooka, Tsutomu Hasegawa

    Robotics and Autonomous Systems   74   148 - 165   2015.12

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    DOI: 10.1016/j.robot.2015.07.010

  • Grasp stability evaluation based on energy tolerance in potential field Reviewed

    Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Ken'Ichi Morooka, Ryo Kurazume

    IEEE International Conference on Intelligent Robots and Systems   2015-December   2311 - 2316   2015.12

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    DOI: 10.1109/IROS.2015.7353688

  • Fourth-person sensing for a service robot Reviewed

    Kazuto Nakashima, Yumi Iwashita, Pyo Yoonseok, Asamichi Takamine, Ryo Kurazume

    2015 IEEE SENSORS - Proceedings   1110 - 1113   2015.12

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    DOI: 10.1109/ICSENS.2015.7370461

  • Fourth-Person Sensing for a Service Robot Reviewed International journal

    Kazuto Nakashima, Yumi Iwashita, Yoonseok Pyo, Asamichi Takamine, Kurazume Ryo

    Proc. of IEEE International Conference on Sensors 2015   2015.11

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  • 情報構造化環境における没入感VRインターフェースの開発 Reviewed

    ピョ ヨンソク, Tokuo Tsuji, 橋口 優香, Ryo Kurazume

    日本ロボット学会誌   33   2015.10

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  • Service Robot System with an Informationally Structured Environment Reviewed International journal

    Yoonseok Pyo, Kouhei Nakashima, Shunya Kuwahata, Kurazume Ryo, Tokuo Tsuji, KEN'ICHI MOROOKA, Tsutomu Hasegawa

    Robotics and Autonomous Systems   2015.10

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  • Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system Reviewed International journal

    Souichiro Oshima, Shingo Nagakura, Yongjin Jeong, Yumi Iwashita, Kurazume Ryo

    Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015)   2015.10

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  • Grasp Stability Evaluation based on Energy Tolerance in Potential Field Reviewed International journal

    Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, KEN'ICHI MOROOKA, Kurazume Ryo

    Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015)   2015.10

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  • Stable image registration for people tracking from the sky Reviewed International journal

    Yumi Iwashita, Kurazume Ryo

    Int. Conf. on Emerging Security Technologies   2015.9

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  • Gait Recognition Robust to Speed Transition using Mutual Subspace Method Reviewed International journal

    Yumi Iwashita, Hitoshi Sakano, Ryo Kurazume

    18th International Conference on Image Analysis and Processing   2015.9

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  • Altitude estimation using particle filter with monopulse radars in a multipath environment Reviewed

    Yuki Takabayashi, Yasushi Obata, Ryo Kurazume

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2015-August   202 - 207   2015.8

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    DOI: 10.1109/AIM.2015.7222532

  • Motion planning for fetch-and-give task using wagon and service robot Reviewed

    Yoonseok Pyo, Kouhei Nakashima, Tokuo Tsuji, Ryo Kurazume, Ken'Ichi Morooka

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2015-August   925 - 932   2015.8

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    DOI: 10.1109/AIM.2015.7222657

  • Immersive VR interface for informationally structured environment Reviewed

    Yoonseok Pyo, Tokuo Tsuji, Yuuka Hashiguchi, Ryo Kurazume

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2015-August   1766 - 1771   2015.8

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    DOI: 10.1109/AIM.2015.7222802

  • マルチパス環境下におけるパーティクルフィルタによる低高度目標追尾 Reviewed

    高林 佑樹, 小幡 康, Ryo Kurazume

    システム情報科学紀要   20 ( 2 )   2015.7

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  • An informationally structured room for robotic assistance Reviewed

    Sensors (Switzerland)   15 ( 4 )   9438 - 9465   2015.4

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    DOI: 10.3390/s150409438

  • Gait-based person identification method using shadow biometrics for robustness to changes in the walking direction Reviewed

    Makoto Shinzaki, Yumi Iwashita, Ryo Kurazume, Koichi Ogawara

    Proceedings - 2015 IEEE Winter Conference on Applications of Computer Vision, WACV 2015   670 - 677   2015.2

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    DOI: 10.1109/WACV.2015.95

  • Gait-based person identification method using shadow biometrics for robustness to changes in the walking direction Reviewed International journal

    Makoto Shinzaki, Yumi Iwashita, Koichi Ogawara, Ryo Kurazume

    IEEE Winter Conference on Applications of Conputer Vision 2015 (WACV)   2015.1

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  • The Informationally Structured Room for Robotic Assistancey Reviewed International journal

    Sensors   2015.1

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  • CPS-SLAM による大規模環境のレーザ観測の自動計画手法 Reviewed

    大島 漱一郎, 永倉 翔吾, 鄭 龍振, Yumi Iwashita, Ryo Kurazume

    日本ロボット学会誌   33 ( 4 )   2015.1

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  • Grasp Stability Evaluation for Elastic Fingertips by using Potential Energy Field Reviewed International journal

    Tokuo Tsuji, Kosei Baba, KEN'ICHI MOROOKA, Kensuke Harada, Kenji Tahara, Kurazume Ryo

    2014 IEEE/SICE International Symposium on System Integration   2014.12

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  • Manual/automatic colorization for three-dimensional geometric models utilizing laser reflectivity Reviewed

    Shuji Oishi, Ryo Kurazume

    Advanced Robotics   28 ( 24 )   1637 - 1651   2014.12

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    DOI: 10.1080/01691864.2014.968616

  • Indoor place categorization using co-occurrences of LBPs in gray and depth images from RGB-D sensors Reviewed

    Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume

    Proceedings - 2014 International Conference on Emerging Security Technologies, EST 2014   40 - 45   2014.12

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    DOI: 10.1109/EST.2014.23

  • Gait identification using invisible shadows: Robustness to appearance changes Reviewed

    Yumi Iwashita, Ryo Kurazume, Adrian Stoica

    Proceedings - 2014 International Conference on Emerging Security Technologies, EST 2014   34 - 39   2014.12

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    DOI: 10.1109/EST.2014.18

  • Fourth-person sensing for pro-active services Reviewed

    Yumi Iwashita, Kazuto Nakashima, Yoonseok Pyo, Ryo Kurazume

    Proceedings - 2014 International Conference on Emerging Security Technologies, EST 2014   113 - 117   2014.12

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    DOI: 10.1109/EST.2014.17

  • First-person animal activity recognition from egocentric videos Reviewed

    Yumi Iwashita, Asamichi Takamine, Ryo Kurazume, M. S. Ryoo

    Proceedings - International Conference on Pattern Recognition   4310 - 4315   2014.12

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    DOI: 10.1109/ICPR.2014.739

  • Manual/Automatic Colorization for Three-Dimensional Geometric Models utilizing Laser Reflectivity Reviewed International journal

    Shuji Oishi, Kurazume Ryo

    Advanced Robotics   2014.12

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    DOI: 10.1080/01691864.2014.968616

  • Estimation of brain internal structures by deforming brain atlas using finite element method Reviewed

    Kaoru Kobayashi, Ken'Ich Morooka, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume, Kazuhiro Samura

    2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014   2014   5558 - 5561   2014.11

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    DOI: 10.1109/EMBC.2014.6944886

  • Two-Dimensional Local Ternary Patterns using Synchronized Images for Outdoor Place Categorization Reviewed International journal

    Hojung Jung, Ryo Kurazume, Yumi Iwashita, Oscar Martinez Mozos

    IEEE International Conference on Image Processing 2014   2014.10

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  • Noise-estimate Particle PHD filter Reviewed

    Masanori Ishibashi, Yumi Iwashita, Ryo Kurazume

    World Automation Congress Proceedings   784 - 789   2014.10

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    DOI: 10.1109/WAC.2014.6936154

  • Identification of people walking along curved trajectories Reviewed

    Yumi Iwashita, Koichi Ogawara, Ryo Kurazume

    Pattern Recognition Letters   48   60 - 69   2014.10

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    DOI: 10.1016/j.patrec.2014.04.004

  • Grasp planning for constricted parts of objects approximated with quadric surfaces Reviewed

    Tokuo Tsuji, Soichiro Uto, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa, Ken'Ichi Morooka

    IEEE International Conference on Intelligent Robots and Systems   2447 - 2453   2014.10

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    DOI: 10.1109/IROS.2014.6942895

  • A method for identifying distribution pattern of cone cells in retina image Reviewed

    Ken'ichi Morooka, Yuanting Ji, Oscar Martinez Mozos, Tokuo Tsuji, Ryo Kurazume, Peter K. Ahnelt

    World Automation Congress Proceedings   774 - 778   2014.10

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    DOI: 10.1109/WAC.2014.6936144

  • Identification of people walking along curved trajectories Reviewed International journal

    Yumi Iwashita, Koichi Ogawara, Ryo Kurazume

    Pattern Recognition Letters   48 ( 15 )   60 - 69   2014.10

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    DOI: 10.1016/j.patrec.2014.04.004

  • Fourth-person sensing for pro-active services Reviewed International journal

    Yumi Iwashita, Kazuto Nakashima, Yoonseok Pyo, Ryo Kurazume

    Fifth International Conference on Emerging Security Technologies (EST-2014)   2014.9

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  • Grasp Planning for Constricted Parts of Objects Approximated with Quadric Surfaces Reviewed International journal

    Tokuo Tsuji, Soichiro Uto, Kensuke Harada, Kurazume Ryo, Tsutomu Hasegawa, KEN'ICHI MOROOKA

    2014 IEEE/RSJ International Conference on Intelligent Robots and Systems   2014.9

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  • Area- and Angle-Preserving Parameterization for Vertebra Surface Mesh Reviewed International journal

    Shoko Miyauchi, MOROOKA KEN'ICHI, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Kurazume Ryo

    2nd MICCAI Workshop & Challenge Computational Methods and Clinical Applications for Spine Imaging   2014.9

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  • Indoor Place Categorization using Co-Occurrences of LBPs in Gray and Depth Images from RGB-D Sensors Reviewed International journal

    Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume

    Fifth International Conference on Emerging Security Technologies (EST-2014)   2014.9

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  • Gait identification using invisible shadows: robustness to appearance changes Reviewed International journal

    Yumi Iwashita, Ryo Kurazume, Adrian Stoica

    Fifth International Conference on Emerging Security Technologies (EST-2014)   2014.9

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  • A Method to Identifying Distribution Pattern of Corn Cells in Retina Image Reviewed International journal

    Yuanting Ji, KEN'ICHI MOROOKA, Oscar Martinez Mozos, Tokuo Tsuji, Ryo Kurazume, Peter K. Ahnel

    2014 World Automation Congress (WAC) - ISORA 2014   2014.8

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  • Estimation of Brain Internal Structures by Deforming Brain Atlas Using Finite Element Method Reviewed International journal

    36th Annual International IEEE EMBS Conference   2014.8

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  • First-Person Animal Activity Recognition from Egocentric Videos Reviewed International journal

    Yumi Iwashita, Asamichi Takamine, Ryo Kurazume, Michael S. Ryoo

    22nd International Conference on Pattern Recognition (ICPR 2014)   2014.8

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  • Noise-Estimate Particle PHD filter Reviewed International journal

    Masanori Ishibashi, Yumi Iwashita, Ryo Kurazume

    2014 World Automation Congress (WAC) - ISORA 2014   2014.8

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  • First-Person Activity Recognition from Animal Videos Reviewed International journal

    Yumi Iwashita, Asamichi Takamine, Ryo Kurazume, Michael S. Ryoo

    3rd Workshop on Egocentric (First-person) Vision in CVPR 2014   2014.6

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  • A Method for Reconstructing 3D Tissue Shapes from Stereo Endoscopic Images Using Wide-Range Edge Reviewed

    Computer Assisted Radiology and Surgery   2014.6

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    A Method for Reconstructing 3D Tissue Shapes from Stereo Endoscopic Images Using Wide-Range Edge

  • 3D Model Generation of Brain Block Using Internal Structure Contours for 3D Japanese Brain Atlas Construction (Medical Imaging) Reviewed

    SASAKI Shou, MOROOKA Ken'ichi, KOBAYASHI Kaoru, TSUJI Tokuo, MIYAGI Yasushi, FUKUDA Takaichi, SAMURA Kazuhiro, KURAZUME Ryo

    114 ( 103 )   1 - 6   2014.6

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    3D Model Generation of Brain Block Using Internal Structure Contours for 3D Japanese Brain Atlas Construction (Medical Imaging)
    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.

  • Floor sensing system using laser reflectivity for localizing everyday objects and robot Reviewed

    Yoonseok Pyo, Tsutomu Hasegawa, Tokuo Tsuji, Ryo Kurazume, Ken'ichi Morooka

    Sensors (Switzerland)   14 ( 4 )   7524 - 7540   2014.4

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    DOI: 10.3390/s140407524

  • Adaptive Target Tracking by Noise-Estimated Particle filter Reviewed International journal

    Masanori Ishibashi, Yumi Iwashita, Ryo Kurazume

    20th Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV2014)   2014.2

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  • Grasp stability analysis for elastic fingertips by using potential energy Reviewed

    Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Ken'Ichi Morooka, Ryo Kurazume

    2014 IEEE/SICE International Symposium on System Integration, SII 2014   453 - 458   2014.1

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    DOI: 10.1109/SII.2014.7028081

  • Two-dimensional local ternary patterns using synchronized images for outdoor place categorization Reviewed

    Hojung Jung, Ryo Kurazume, Yumi Iwashita, Oscar Martinez Mozos

    2014 IEEE International Conference on Image Processing, ICIP 2014   5726 - 5730   2014.1

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    DOI: 10.1109/ICIP.2014.7026158

  • Grasp Planning using Quadric Surface Approximation for Parallel Grippers Reviewed International journal

    Soichiro Uto, Tokuo Tsuji, Kensuke Harada, Kurazume Ryo, Tsutomu Hasegawa

    2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2013.12

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  • Categorization of indoor places by combining local binary pattern histograms of range and reflectance data from laser range finders Reviewed

    Oscar Martinez Mozos, Hitoshi Mizutani, Hojung Jung, Ryo Kurazume, Tsutomu Hasegawa

    Advanced Robotics   27 ( 18 )   1455 - 1464   2013.12

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    DOI: 10.1080/01691864.2013.839091

  • 自己組織化可変モデルに基づく任意曲面への人体組織メッシュモデルの写像 Reviewed

    宮内 翔子, KEN'ICHI MOROOKA, 宮城 靖, 福田 孝一, Tokuo Tsuji, Ryo Kurazume

    電子情報通信学会誌   J96-D   2013.12

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  • 標準脳図譜変形による患者指向脳図譜の構築のためのランドマーク選択 Reviewed

    小林 薫樹, KEN'ICHI MOROOKA, 宮城 靖, 福田 孝一, Tokuo Tsuji, Ryo Kurazume

    生体医工学論文誌   51 ( 6 )   2013.12

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  • Measurement and Estimation of Indoor Human Behavior of Everyday Life Based on Floor Sensing with Minimal Invasion of Privacy Reviewed International journal

    Yoonseok Pyo, Tsutomu Hasegawa, Masahide Tanaka, Tokuo Tsuji, MOROOKA KEN'ICHI, Kurazume Ryo

    2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2013.12

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  • ND voxel localization using large-scale 3D environmental map and RGB-D camera Reviewed International journal

    Shuji Oishi, Yongjin Jeong, Kurazume Ryo, Yumi Iwashita, Tsutomu Hasegawa

    2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2013.12

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  • サイズ適応型原発性肝がん検出法

    由井 俊太郎, 宮越 純一, 松崎 和喜, 入江 敏之, 原 健二, 倉爪 亮

    電子情報通信学会論文誌. D, 情報・システム   96 ( 11 )   2825 - 2837   2013.11

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    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&#37;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.

  • Hole-free texture maping based on laser reflectivity Reviewed International journal

    Shuji Oishi, Kurazume Ryo, Iwashita Yumi, Hasegawa Tsutomu

    The International Conference on Image Processing (ICIP)   2013.9

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  • Abnormal behavior detection using privacy protected videos Reviewed International journal

    Yumi Iwashita, Shuhei Takaki, MOROOKA KEN'ICHI, Tokuo Tsuji, Kurazume Ryo

    2013 4th Int. Conf. on Emerging Security Technologies   55 - 57   2013.9

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  • Tissue surface model mapping onto arbitrary target surface based on self-organizing deformable model Reviewed International journal

    Shoko Miyauchi, MOROOKA KEN'ICHI, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Kurazume Ryo

    2013 4th Int. Conf. on Emerging Security Technologies   79 - 82   2013.9

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  • Gait-based person identification robust to changes in appearance Reviewed International journal

    Iwashita Yumi, Koji Uchin, Kurazume Ryo

    Sensors   2013.9

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  • Range image smoothing and completion utilizing laser intensity Reviewed

    Shuji Oishi, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

    Advanced Robotics   27 ( 12 )   947 - 958   2013.8

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    DOI: 10.1080/01691864.2013.797141

  • A Method for Estimating Patient Specific Parameters for Simulation of Tissue Deformation by Finite Reviewed International journal

    MOROOKA KEN'ICHI, Sonoki Shuji, Kurazume Ryo, Hasegawa Tsutomu

    The fifth International Workconference on the Interplay between Natural and Artificial Computation (IWINAC2013)   2013.6

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  • Gait-based person identification robust to changes in appearance Reviewed

    Yumi Iwashita, Koji Uchino, Ryo Kurazume

    Sensors (Switzerland)   13 ( 6 )   7884 - 7901   2013.6

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    DOI: 10.3390/s130607884

  • The Intelligent Room for Elderly Care Reviewed International journal

    MARTINEZ MOZOS OSCAR, Tsuji Tokuo, Chae Hyunuk, Kuwahata Shunya, Hasegawa Tsutomu, MOROOKA KEN'ICHI, Kurazume Ryo

    The fifth International Workconference on the Interplay between Natural and Artificial Computation (IWINAC2013)   2013.6

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  • Colorization of 3D Geometric Model utilizing Laser Reflectivity Reviewed International journal

    Oishi Shuji, Kurazume Ryo, Iwashita Yumi, Hasegawa Tsutomu

    Proc. IEEE International Conference on Robotics and Automation   2013.5

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  • Navigation System with Real-time Finite Element Analysis for Minimally Invasive Surgery Reviewed International journal

    MOROOKA KEN'ICHI, Nakasuka Yosuke, Kurazume Ryo, Xian Chen, Iwashita Yumi, Hasegawa Tsutomu, Hashizume Makoto

    International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'13)   2013.5

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  • Object recognition by a laser scanner using multimodal information Reviewed International journal

    Oishi Shuji, Kondo Naoaki, Iwashita Yumi, Kurazume Ryo

    11th International Conference on Quality Control by Artificial Vision (QCAV)   2013.5

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  • Expanding gait identification methods from straight to curved trajectories Reviewed International journal

    Yumi Iwashita, Ryo Kurazume, et.al,

    Proc. of Workshop on the Applications of Computer Vision 2013 (WACV)   2013.1

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  • Expanding gait identification methods from straight to curved trajectories Reviewed

    Yumi Iwashita, Ryo Kurazume, Koichi Ogawara

    Proceedings of IEEE Workshop on Applications of Computer Vision   193 - 199   2013.1

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    DOI: 10.1109/WACV.2013.6475018

  • A method for selecting landmark to generate patient-specific brain atlas by deforming standard brain atlas Reviewed

    Kaoru Kobayashi, Ken'ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume

    Transactions of Japanese Society for Medical and Biological Engineering   51 ( 6 )   390 - 396   2013.1

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  • Categorization of Indoor Places by Combining Local Binary Pattern Histograms of Range and Reflectance Data from Laser Range Finders Reviewed International journal

    MARTINEZ MOZOS OSCAR, Mizutani Hiroshi, Kurazume Ryo, Hasegawa Tsutomu

    Advanced Robotics   2013.1

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  • Range Image Smoothing and Completion utilizing Laser Intensity Reviewed International journal

    Shuji Oishi, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

    Advanced Robotics   2013.1

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  • Robust Visual Servoing for Object Manipulation against Temporary Loss of Sensory Information using a Multi-Fingered Hand-Arm Reviewed International journal

    Akihiro Kawamura, Kenji Tahara, Ryo Kurazume and Tsutomu Hasegawa

    Journal of Robotics and Mechatronics   25 ( 1 )   2013.1

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  • Robust global localization using laser reflectivity Reviewed International journal

    Dong Xiang ZHANG, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

    Journal of Robotics and Mechatronics   25 ( 1 )   2013.1

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  • Development of 3D scanning system using automatic guiding total station Reviewed International journal

    Ken Endou, Takafumi Ikenoya, Ryo Kurazume

    Journal of Robotics and Mechatronics   25 ( 1 )   2012.12

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  • Gait identification using shadow biometrics Reviewed

    Yumi Iwashita, Adrian Stoica, Ryo Kurazume

    Pattern Recognition Letters   33 ( 16 )   2148 - 2155   2012.12

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    DOI: 10.1016/j.patrec.2012.07.022

  • Development of 3D scanning system using automatic guiding total station Reviewed

    Ken Endou, Takafumi Ikenoya, Ryo Kurazume

    Journal of Robotics and Mechatronics   24 ( 6 )   992 - 999   2012.12

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    DOI: 10.20965/jrm.2012.p0992

  • High-Precision Three-Dimensional Laser Measurement System by Cooperative Multiple Mobile Robots Reviewed International journal

    Yongjin Jeong, Ryo Kurazume, Yoonseok Pyo, Yumi Iwashita, Tsutomu Hasegawa,

    2012 IEEE/SICE International Symposium on System Integration (SII2011)   2012.12

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  • Patient-specific atlas construction by deforming paxinos's atlas to patient images Reviewed International journal

    Kaoru Kobayashi, Ken'ichi Morooka, Yasushi Miyagi, Kazuhiro Samura, Ryo Kurazume, Tsutomu Hasegawa

    International Forum on Medical Imaging in Asia 2012   2012.11

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  • Dynamic Grasping of an Arbitrary Polyhedral Object Reviewed International journal

    Akihiro Kawamura, Kenji Tahara, Ryo Kurazume and Tsutomu Hasegawa

    Robotica   2012.10

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  • Dynamic grasping of an arbitrary polyhedral object Reviewed

    Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa

    Robotica   34 ( 6 )   511 - 523   2012.10

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    DOI: 10.1017/S0263574712000525

  • Gait identification using shadow biometrics Reviewed International journal

    Yumi Iwashita, Adrian Stoica, Ryo Kurazume

    Pattern Recognition Letters   2012.10

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  • Iterative Learning Control for a Musculoskeletal Arm: Utilizing Multiple Space Variables to Improve the Robustness Reviewed International journal

    Kenji Tahara, Yuta Kuboyama, Ryo Kurazume,

    Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)   2012.10

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  • Robust Visual Servoing for Object Manipulation with Large Time-Delays of Visual Information Reviewed International journal

    Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa

    Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)   2012.10

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  • Finding People by their Shadows: Aerial Surveillance Using Body Biometrics Extracted from Ground Video Reviewed International journal

    Yumi Iwashita, Adrian Stoica, Ryo Kurazume

    2012 Third International Conference on Emerging Security Technologies (EST 2012)   2012.9

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  • A Method for Mapping Brain Atlas to Patient Brain Structure by Least-Squares Mesh Method Reviewed International journal

    Kaoru Kobayashi, Ken'ichi Morooka, Yasushi Miyagi, Kazuhiro Samura, Ryo Kurazume, Tsutomu, Hasegawa

    34th Annual International IEEE Engineering in Medicine and Biology Society   2012.8

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  • An efficient construction of real-time FEM-based simulator for soft tissue deformation with large dataset Reviewed International journal

    Ken'ichi Morooka, Tomoyuki Taguchi, Xian Chen, Ryo Kurazume, Makoto Hashizume, Tsutomu Hasegawa

    16th Annual Conference of the International Society for Computer Aided Surgery   2012.6

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  • Position Tracking and Recognition of Everyday Objects by using Sensors Embedded in an Environment and Mounted on Mobile Robots Reviewed International journal

    Kouji Murakami, Kazuya Matsuo, Tsutomu Hasegawa, Ryo Kurazume

    in Proc. IEEE International Conference on Robotics and Automation, pp.-, Saint Paul, May 14-18, 2012   2012.5

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  • Global localization for a mobile robot using laser reflectance and particle filter

    Dong Xiang Zhang, Ryo Kurazume

    Research Reports on Information Science and Electrical Engineering of Kyushu University   17 ( 1 )   9 - 16   2012.5

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    DOI: 10.15017/21947

  • Categorization of indoor places using the Kinect sensor Reviewed

    Oscar Martinez Mozos, Hitoshi Mizutani, Ryo Kurazume, Tsutomu Hasegawa

    Sensors (Switzerland)   12 ( 5 )   6695 - 6711   2012.5

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    DOI: 10.3390/s120506695

  • Global Localization for a Mobile Robot Using Laser Reflectance and Particle Filter Reviewed

    DongXiang Zhang, Ryo Kurazume

    17 ( 1 )   2012.5

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  • Gait identification from invisible shadows Reviewed International journal

    Yumi Iwashita, Koji Uchino, Ryo Kurazume and Adrian Stoica

    SPIE Defense, Security, and Sensing, Biometric Technology for Human Identification IX   2012.4

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  • CPS-SLAMの研究 : 計測精度の向上とトンネル出来形計測システムの構築

    鄭 龍振, 岩下 友美, 倉爪 亮

    日本ロボット学会誌   30 ( 2 )   180 - 187   2012.3

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    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&#37; 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.

    DOI: 10.7210/jrsj.30.180

  • リフレクタンス画像とTrilateral filterを用いた距離画像の平滑化 Reviewed

    大石修士, 倉爪亮, 岩下友美, 長谷川勉

    電気学会論文誌   132 ( 2 )   2012.2

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  • Size-adaptive hepatocellular carcinoma detection from 3D CT images based on the level set method Reviewed International journal

    Shuntaro YUI, Junichi Miyakoshi, Kazuki Matsuzaki, Toshiyuki Irie, Ryo Kurazume

    Proceedings of SPIE Volume 8315 (SPIE Medical Imaging)   2012.2

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  • A method for constructing real-time FEM-based simulator of stomach behavior with large-scale deformation by neural networks Reviewed International journal

    Ken'ichi Morooka, Tomoyuki Taguchi, Ryo Kurazume, Makoto Hashizume, Tsutomu Hasegawa

    Proceedings of SPIE Volume 8316 (SPIE Medical Imaging)   2012.2

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  • Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots Reviewed International journal

    Yukihiro Tobata, Ryo Kurazume, Yusuke Noda, Kai Lingemann, YumiIwashita, Tsutomu Hasegawa

    Autonomous Robot   31   2012.1

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  • Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots Reviewed

    Yukihiro Tobata, Ryo Kurazume, Yusuke Noda, Kai Lingemann, Yumi Iwashita, Tsutomu Hasegawa

    Autonomous Robots   32 ( 1 )   49 - 62   2012.1

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    DOI: 10.1007/s10514-011-9256-x

  • HELIOS Tracked Robot Team : Mobile RT System for Special Urban Search and Rescue Operations Reviewed

    Ryuichi Hodoshima, Michele Guarnieri, Ryo Kurazume, Hiroshi Masuda, Takao Inoh, Paulo Debenest, Edwardo F. Fukushima and Shigeo Hirose

    Journal of Robotics and Mechatronics   2012.1

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  • 三次元形状計測装置を用いた建設構造物の施工管理システムの開発 Reviewed

    遠藤 健, 池野谷 尚史, 古賀 祐一郎, 倉爪 亮

    日本ロボット学会誌   30 ( 1 )   2012.1

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  • 多指ハンドアームシステムを用いたセンソリーフィードバックによる任意多面体の姿勢制御, 日本ロボット学会誌 Reviewed

    河村 晃宏, 田原 健二, 倉爪 亮, 長谷川 勉

    日本ロボット学会誌   30 ( 1 )   2012.1

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  • Appearance and map-based global localization using laser reflectivity Reviewed International journal

    DongXiang Zhang, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

    2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2011.12

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  • Robot localization under perceptual aliasing conditions based on laser reflectivity using particle filter Reviewed International journal

    DongXiang Zhang, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa

    2011 IEEE/SICE International Symposium on System Integration (SII2011)   2011.12

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  • Robust Manipulation for Temporary Lack of Sensory Information by a Multi-Fingered Hand-Arm System Reviewed International journal

    Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, and Tsutomu Hasegawa

    2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10)   2011.9

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  • Denoising of Range Images using a Trilateral Filter and Belief Propagation Reviewed International journal

    Shuji Oishi, Ryo Kurazume, Yumi Iwashita, and Tsutomu Hasegawa,

    2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10)   2011.9

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  • Introduction to the Robot Town Project and 3-D Co-operative Geometrical Modeling Using Multiple Robots Reviewed International journal

    Ryo Kurazume, Yumi Iwashita, Koji Murakami, and Tsutomu Hasegawa

    15th International Symposium on Robotics Research (ISRR 2011)   2011.8

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  • Dynamic Object Manipulation Using a Multi-Fingered Hand-Arm System: Enhancement of a Grasping Capability Using Relative Attitude Constraints of Fingers Reviewed International journal

    Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa

    The 15th International Conference on Advanced Robotics   2011.6

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  • Partly Locality Sensitive Hashing を用いた時系列データからの高頻度パ ターン抽出 Reviewed

    小川原 光一, 田邉 康史, 倉爪 亮, 長谷川 勉

    日本ロボット学会誌   27   2011.1

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  • Sensory Feedback Attitude Control for a Grasped Object by a Multi-Fingered Hand-Arm System Reviewed International journal

    Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, and Tsutomu Hasegawa

    2010 IEEE International Conference on Robotics and Biomimetics (ROBIO 2010)   2010.12

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  • Automatic laser-based geometrical modeling using multiple mobile robots Reviewed International journal

    Yukihiro Tobata, Ryo Kurazume, Yumi Iwashita and Tsutomu Hasegawa

    2010 IEEE International Conference on Robotics and Biomimetics (ROBIO 2010)   2010.12

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  • Position Tracking System for Commodities in an Indoor Environment Reviewed International journal

    Kouji Murakami, Tsutomu Hasegawa, Yasunobu Nohara, Byong Won Ahn, and Ryo Kurazume

    Proc. of IEEE International Conference on Sensors   2010.11

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  • Position Tracking System for Commodities in a Daily Life Environment Reviewed International journal

    Kouji Murakami, Tsutomu Hasegawa, Yasunobu Nohara, Byong-won Ahn, Ryo Kurazume

    2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10)   2010.10

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  • A Tactile Sensing for Estimating the Position and Orientation of a Joint-Axis of a Linked Object Reviewed International journal

    Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume

    2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10)   2010.10

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  • Detecting Repeated Motion Patterns using Partly Locality Sensitive Hashing Reviewed International journal

    Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa

    2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS10)   2010.10

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  • Person identification from spatio-temporal 3D gait Reviewed International journal

    Yumi Iwashita, Ryosuke Baba, Koichi Ogawara, Ryo Kurazume

    Int. Conf. on Emerging Security Technologies   2010.9

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  • People identification using shadow dynamics Reviewed International journal

    Yumi Iwashita, Adrian Stoica, Ryo Kurazume,

    IEEE International Conference on Image Processing (ICIP)   2010.9

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  • Person Identification using Shadow Analysis Reviewed International journal

    Yumi Iwashita, Adrian Stoica, Ryo Kurazume

    British Machine Vision Conference 2010   2010.8

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  • 群ロボットによる未知環境3次元地図の自動作成のための動作計画手法 Reviewed

    横矢 剛, 長谷川 勉, 倉爪 亮, 村上 剛司

    電子情報通信学会誌   J93-D ( 6 )   2010.6

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  • Model-based motion tracking system using distributed network cameras Reviewed International journal

    Yumi Iwashita, Ryo Kurazume, Takamitsu Mori, Masaki Saito, and Tsutomu Hasegawa

    IEEE International Conference on Robotics and Automation   2010.5

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  • Motion Tracking in Daily Environment Using Distributed Image and Laser Sensors Reviewed International journal

    Yumi Iwashita, Masaki Saito, Ryo Kurazume, Tsutomu Hasegawa

    The First International Workshop on Human Behavior Sensing   2010.5

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  • A decision method for placement of tactile elements on a sensor glove for the recognition of grasp types Reviewed

    Kouji Murakami, Kazuya Matsuo, Tsutomu Hasegawa, Ryo Kurazume

    IEEE/ASME Transactions on Mechatronics   15 ( 1 )   157 - 162   2010.2

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    DOI: 10.1109/TMECH.2009.2023647

  • SIR/MCMCパーティクルフィルタを用いた分散カメラとレーザによる複数移動体の同時追跡 Reviewed

    倉爪 亮, 山田 弘幸, 曽我部 光司, 村上 剛司, 岩下 友美, 長谷川 勉

    日本ロボット学会誌   2010.1

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  • Multi-Part People Detection Using 2D Range Data Reviewed International journal

    Oscar Martinez Mozos, Ryo Kurazume, Tsutomu Hasegawa

    International Journal of Social Robotics   2010.1

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  • 非線形有限要素解析を模したニューラルネットワークを用いた軟性臓器ボリュームモデルの変形シミュレータ Reviewed

    諸岡健一, 陳献, 倉爪亮, 内田誠一, 原健二, 砂川賢二, 橋爪誠

    電子情報通信学会誌   2010.1

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  • AdaBoost による気道・ 食道自動識別 Reviewed

    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

    電子情報通信学会論文誌   Vol.J92-D ( No.12 )   2009.12

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  • HELIOS system: A team of tracked robots for special urban search and rescue operations Reviewed

    M. Guarnieri, R. Kurazume, H. Masuda, T. Inoh, K. Takita, P. Debenest, R. Hodoshima, E. Fukushima, S. Hirose

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009   23 ( 6 )   2795 - 2800   2009.12

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    DOI: 10.1109/IROS.2009.5354452

  • Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object Reviewed International journal

    Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara, and Ryo Kurazume

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS09)   2009.10

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  • HELIOS System: A Team of Tracked Robots for Special Urban Search and Rescue Operations Reviewed International journal

    Michele Guarnieri, Ryo Kurazume, Hiroshi Masuda, Takao Inoh, Kensuke Takita, Ryuichi Hodoshima, Paulo Debenest, Edwardo F. Fukushima, Shigeo Hirose

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS09)   2009.10

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  • Dynamic Grasping for an Arbitrary Polyhedral Object by a Multi-Fingered Hand-Arm System Reviewed International journal

    Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa,

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS09)   2009.10

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  • Supporting Robotic Activities in Informationally Structured Environment with Distributed Sensors and RFID Tags Reviewed International journal

    Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume, and Yoshihiko Kimuro

    Journal of Robotics and Mechatronics   2009.8

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  • Development of Pseudo 3D Visualization System by Superimposing Ultrasound Images Reviewed International journal

    Yumi Iwashita, Shinji Tarumi, Ryo Kurazume, Makoto Hashizume

    International Symposium on Assistive and Recuperative Technologies for Injured, Ill, Pregnant, Elderly and people with Disabilities   2009.7

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  • Measurement of static constraints imposed by a human hand on a grasped object Reviewed International journal

    Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara and Ryo Kurazume

    Int. Conf. on Advanced Robotics   2009.6

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  • Simple Orientation Control of An Object by Regrasping using A Dual-arm Manipulator with Multi-Fingered Hands Reviewed International journal

    Akihiro Kawamura, Kenji Tahara, Ryo Kurazume and Tsutomu Hasegawa

    Int. Conf. on Advanced Robotics   2009.6

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  • Laser-based Geometric Modeling using Cooperative Multiple Mobile Robots Reviewed International journal

    Ryo Kurazume, Yusuke Noda, Yukihiro Tobata, Kai Lingemann, Yumi Iwashita, Tsutomu Hasegawa

    IEEE International Conference on Robotics and Automation   2009.4

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  • Person identification from human walking sequences using affine moment invariants Reviewed International journal

    Yumi Iwashita, Ryo Kurazume,

    IEEE International Conference on Robotics and Automation   2009.4

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  • Fast Repetitious Motion Pattern Detection Method via Dynamic Programming using Motion Density Reviewed International journal

    Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa

    IEEE International Conference on Robotics and Automation   2009.4

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  • HELIOS Carrier: Tail-like Mechanism and Control Algorithm for Stable Motion in Unknown Environments Reviewed International journal

    Michele Guarnieri, Paulo Debenest, Takao Inoh, Kensuke Takita, Hiroshi Masuda, Ryo Kurazume, Edwardo F. Fukushima, Shigeo Hirose

    IEEE International Conference on Robotics and Automation   2009.4

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  • 3D reconstruction of a femoral shape using a parametric model and two 2D fluoroscopic images Reviewed

    Ryo Kurazume, Kaori Nakamura, Toshiyuki Okada, Yoshinobu Sato, Nobuhiko Sugano, Tsuyoshi Koyama, Yumi Iwashita, Tsutomu Hasegawa

    Computer Vision and Image Understanding   113 ( 2 )   202 - 211   2009.2

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    DOI: 10.1016/j.cviu.2008.08.012

  • 移動ロボットによる統一座標系での広域分散カメラキャリブレーション Reviewed

    横矢 剛, 長谷川 勉, 倉爪 亮, 村上 剛司

    電子情報通信学会誌   2009.1

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  • 自己発信情報の組み込みによる移動体の分離追跡 Reviewed

    〆野敦稔, 内田誠一, 倉爪 亮, 谷口倫一郎, 長谷川勉

    電気学会論文誌(C)   2009.1

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  • 3D reconstruction of a femoral shape using a parametric model and two 2D fluoroscopic images Reviewed International journal

    Ryo Kurazume, Kaori Nakamura, Oshiyuki Okada, Yoshinobu Sato, Nobuhiko Sugano, Tsuyoshi Koyama, Yumi Iwashita, Tsutomu Hasegawa

    Computer Vision and Image Understanding   2008.12

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  • A Structured Environment with Sensor Networks for Intelligent Robots Reviewed International journal

    Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume and Yoshihiko Kimuro

    Proc. of IEEE Int. Conf. on Sensors   2008.10

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  • A Decision Method for the Placement of Mechanical Tactile Elements for Grasp Type Recognition Reviewed International journal

    Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume

    Proc. of IEEE Int. Conf. on Sensors   2008.10

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  • Real-time Nonlinear FEM with Neural Network for Simulating Soft Organ Model Deformation Reviewed International journal

    Ken'ichi Morooka, Xian Chen, Ryo Kurazume, Uchida Seiichi, Kenji Hara, Yumi Iwashita, Makoto Hashizume

    The 11th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI 2008)   2008.9

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  • Learning Meaningful Interactions from Repetitious Motion Patterns Reviewed International journal

    Koichi Ogawara, Yasufumi Tanabe, Ryo Kurazume, Tsutomu Hasegawa

    2008 IEEE/RSJ International Conference on Intelligent Robots and Systems   2008.9

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  • Target Tracking Using SIR and MCMC Particle Filters by Multiple Cameras and Laser Range Finders Reviewed International journal

    Ryo Kurazume, Hiroyuki Yamada, Kouji Murakami, Yumi Iwashita, and Tsutomu Hasegawa

    2008 IEEE/RSJ International Conference on Intelligent Robots and Systems   2008.9

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  • Calibration of Widely Distributed Vision Cameras by Mobile Robots with Cooperative Positioning Reviewed International journal

    Tsuyoshi Yokoya, Tsutomu Hasegawa, and Ryo Kurazume

    17th IFAC World Congress   2008.7

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  • 逆投影と幾何拘束を用いた2D/3D位置合わせ Reviewed

    椛島 佑樹, 原 健二, 倉爪 亮, 岩下 友美, 諸岡 健一, 内田 誠一, 長谷川 勉

    電子情報通信学会論文誌D   2008.5

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  • Fast 3D Reconstruction of Human Shape and Motion Tracking by Parallel Fast Level Set Method Reviewed International journal

    Yumi Iwashita, Ryo Kurazume, Kenji Hara, Seiichi Uchida, Ken'ichi Morooka, and Tsutomu Hasegawa

    IEEE International Conference on Robotics and Automation   2008.5

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  • Calibration of Distributed Vision Network in Unified Coordinate System by Mobile Robots Reviewed International journal

    Tsuyoshi Yokoya, Tsutomu Hasegawa, Ryo Kurazume, and Kouji Murakami

    IEEE International Conference on Robotics and Automation   2008.5

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  • A Decision Method for the Placement of Tactile Sensors for Manipulation Task Recognition Reviewed International journal

    Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Ryo Kurazume

    IEEE International Conference on Robotics and Automation   2008.5

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  • 情報構造化環境における情報管理の一手法 Reviewed

    村上 剛司,長谷川 勉,木室 義彦,千田 陽介,家永 貴史,有田 大作,倉爪 亮

    日本ロボット学会論文誌   2008.2

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  • CPS-SLAMの研究 大規模建造物の高精度3次元幾何形状レーザ計測システム Reviewed

    倉爪 亮,戸畑 享大,村上 剛司,長谷川 勉

    日本ロボット学会論文誌   2007.12

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  • Fast alignment of 3D geometrical models and 2D grayscale images using 2D distance maps Reviewed

    Yumi Iwashita, Ryo Kurazume, Kozo Konishi, Masahiko Nakamoto, Makoto Hashizume, Tsutomu Hasegawa

    Systems and Computers in Japan   38 ( 14 )   52 - 62   2007.12

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    DOI: 10.1002/scj.20634

  • Recognition of Manipulation Sequences by Human Hand Based on Support Vector Machine Reviewed International journal

    Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, and Ryo Kurazume

    The 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON'07)   2007.11

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  • Logical DP Matching for Detecting Similar Subsequence Reviewed International journal

    Seiichi Uchida, Akihiro Mori, Ryo Kurazume, Rin-ichiro Taniguchi and Tsutomu Hasegawa

    8th Asian Conference on Computer Vision   2007.11

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  • Patient-specific femoral shape estimation using a parametric model and two 2D fluoroscopic images Reviewed International journal

    Yumi Iwashita, Ryo Kurazume, Kaori Nakamura, Toshiyuki Okada, Yoshinobu Sato, Nobuhiko Sugano, Tsuyoshi Koyama, Tsutomu Hasegawa

    ACCV'07 Workshop on Multi-dimensional and Multi-view Image Processing   2007.11

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  • Robot Town Project: Sensory Data Management and Interaction with Robot of Intelligent Environment for Daily Life Reviewed International journal

    Tsutomu Hasegawa, Kouji Murakami, Ryo Kurazume, Yosuke Senta, Yoshihiko Kimuro, Takafumi Ienaga

    2007 International Conference on Ubiquitous Robots and Ambient Intelligence (URAI07), 2007.   2007.10

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  • The great Buddha project: Digitally archiving, restoring, and analyzing cultural heritage objects Reviewed

    Katsushi Ikeuchi, Takeshi Oishi, Jun Takamatsu, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, Ko Nishino, Mawo Kamakura, Yasuhide Okamoto

    International Journal of Computer Vision   75 ( 1 )   189 - 208   2007.10

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    DOI: 10.1007/s11263-007-0039-y

  • Robust 2D-3D alignment based on geometrical consistency Reviewed International journal

    Yumi Iwashita, Kenji Hara, Yuuki Kabashima, Ryo Kurazume, Tsutomu Hasegawa

    The 6th International Conference on 3-D Digital Imaging and Modeling (3DIM2007)   2007.8

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  • 論理判定型DPマッチングによる類似区間検出 Reviewed

    森 明慧,内田誠一,倉爪 亮,谷口倫一郎,長谷川勉

    電子情報通信学会論文誌   2007.8

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  • 並列Fast Level Set Methodによる移動体の高速な3次元形状復元 Reviewed

    岩下友美,倉爪亮,原 健二,内田誠一,諸岡健一,長谷川 勉

    電子情報通信学会論文誌   2007.8

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  • 3D laser measurement system for large scale architectures using multiple mobile robots Reviewed International journal

    Ryo Kurazume, Yukihiro Tobata, Yumi Iwashita, Tsutomu Hasegawa

    The 6th International Conference on 3-D Digital Imaging and Modeling (3DIM2007)   2007.8

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  • Hierarchical face cluster partitioning of polygonal surfaces and high-speed rendering International journal

    Tokuo Tsuji, Hongbin Zha, Tsutomu Hasegawa, Ryo Kurazume

    Systems and Computers in Japan   2007.7

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  • Hierarchical face cluster partitioning of polygonal surfaces and high-speed rendering Reviewed

    Tokuo Tsuji, Zha Hongbin, Tsutomu Hasegawa, Ryo Kurazume

    Systems and Computers in Japan   38 ( 8 )   32 - 43   2007.7

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    DOI: 10.1002/scj.20581

  • Fast model-image registration using a two-dimensional distance map for surgical navigation system Reviewed

    Yumi Iwashita, Ryo Kurazume, Kozo Konishi, Masahiko Nakamoto, Naoki Aburaya, Yoshinobu Sato, Makoto Hashizume, Tsutomu Hasegawa

    Advanced Robotics   21 ( 7 )   751 - 770   2007.6

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    DOI: 10.1163/156855307780429794

  • 3D reconstruction of a femoral shape using a parametric model and two 2D fluoroscopic images Reviewed International journal

    Ryo Kurazume, Kaori Nakamura,Toshiyuki Okada, Yoshinobu Sato, Nobuhiko Sugano,Tsuyoshi Koyama, Yumi Iwashita, and Tsutomu Hasegawa

    in Proc. IEEE International Conference on Robotics and Automation 2007.   2007.4

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  • The Great Buddha Project: Digitally Archiving, Restoring, and Analyzing Cultural Heritage Objects Reviewed International journal

    Katsushi Ikeuchi, Takeshi Oishi, Jun Takamatsu, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, No Nishino, Mawo Kamakura and Yasuhide Okamoto

    International Journal of Computer Vision   2007.3

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  • 2視点からの2次元X線投影像と統計的形状モデルを用いた大腿骨形状の3次元復元 Reviewed

    倉爪 亮,中村 かほり,岡田 俊之,佐藤 嘉伸,菅野 伸彦,小山 毅,岩下 友美,長谷川 勉

    電子情報通信学会論文誌   2007.3

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  • 実体を伴うプロアクティブヒューマンインタフェースのためのジェスチャの早期認識・予測に関する検討 Reviewed

    森 明慧,内田誠一,倉爪 亮,谷口倫一郎,長谷川勉,迫江博昭

    日本ロボット学会論文誌   2006.12

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  • Early Recognition and Prediction of Gestures toward Intelligent Man-Machine Interfaces Reviewed International journal

    Akiriho Mori, Seiichi Uchida, Ryo Kurazume, R.inichiro Taniguchi, Tsutomu Hasegawa, and Hiroaki Sakoe

    Proc. The Second Joint Workshop on Machine Perception and Robotics   2006.11

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  • Motion Prediction Based on Eigen-Gestures Reviewed International journal

    Masato Nakajima, Seiichi Uchida, Akihiro Mori, Ryo Kurazume, Rin-ichiro Taniguchi, Tsutomu Hasegawa, and Hiroaki Sakoe

    Proc. of the First Korea-Japan Joint Workshop on Pattern Recognition   2006.11

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  • Robust 3D Shape Reconstruction against Target Occlusion using Fast Level Set Method Reviewed International journal

    Yumi Iwashita, Ryo Kurazume, Kenji Hara, and Tsutomu Hasegawa

    Proc. The Second Joint Workshop on Machine Perception and Robotics   2006.11

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  • Early recognition and prediction of gestures Reviewed International journal

    Akiriho Mori, Seiichi Uchida, Ryo Kurazume, Rinichiro Taniguchi, Tsutomu Hasegawa, and Hiroaki Sakoe

    Proc. International Conference on Pattern Recognition   2006.8

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  • Embodied Proactive Human Interface ''PICO-2'' Reviewed International journal

    Ryo Kurazume, Hiroaki Omasa, Seiichi Uchida, Rinichiro Taniguchi,Tsutomu Hasegawa

    Proc. International Conference on Pattern Recognition   2006.8

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  • Robust Motion Capture System against Target Occlusion using Fast Level Set Method Reviewed International journal

    Yumi Iwashita, Ryo Kurazume, Kenji Hara, and Tsutomu Hasegawa

    Proc. IEEE International Conference on on Robotics and Automation   2006.5

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  • Construction of symbolic representation from human motion information Reviewed International journal

    Yutaka Araki, Daisaku Arita, Rinichiro Taniguchi, Seiichi Uchida, Ryo Kurazume and Tsutomu Hasegawa

    10th Int. Conf. on Knowledge-Based & Intelligent Information & Engineering Systems (KES2006)   2006.1

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    Repository Public URL: http://hdl.handle.net/2324/5866

  • A Factorization Method for Fish-eye Cameras Reviewed International journal

    Kohei Inoue, Tomoyuki Oho, Kenji Hara, Ryo Kurazume and Kiichi Urahama

    International Workshop on Advanced Image Technology (IWAIT 2006)   2006.1

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  • A New Index of Serial Link Manipulator Performance Combining Dynamic Manipulability and Manipulating Force Ellipsoids Reviewed International journal

    Ryo Kurazume and Tsutomu Hasegawa

    IEEE Transactions on Robotics   2006.1

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  • Robotic Dexterity by Multi-fingered Hand with Soft Fingertip Reviewed International journal

    Tsutomu Hasegawa, Kouji Muarkami, and Ryo Kurazume

    The 2nd International Conference on Ubiquitous Robots and Ambient Intelligence   2005.11

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  • Mapping textures on 3D geometric model using reflectance image Reviewed

    Ryo Kurazume, Ko Nishino, Mark D. Wheeler, Katsushi Ikeuchi

    Systems and Computers in Japan   36 ( 13 )   92 - 101   2005.11

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    DOI: 10.1002/scj.10392

  • , Mapping textures on 3D geometric model using reflectance image Reviewed International journal

    Ryo Kurazume, Ko Nishino, Mark D. Wheeler, Katsushi Ikeuchi

    Systems and Computers in Japan   2005.11

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  • Fast Level Set Methodを用いた複数移動物体の3次元追跡 Reviewed

    岩下 友美,倉爪 亮,辻 徳生,原 健二,長谷川 勉

    日本ロボット学会誌   2005.10

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  • 創建期奈良大仏及び大仏殿のデジタル復元 Reviewed

    大石 岳史,増田 智仁,倉爪 亮,池内 克史

    日本バーチャルリアリティ学会論文誌   2005.10

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  • 球面レベルセット法と全方位複数輪郭抽出 Reviewed

    原 健二,岩下 友美,倉爪 亮,長谷川 勉,浦浜 喜一

    情報科学技術レターズ   2005.10

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  • 2次元距離場を用いた3次元幾何モデルと濃淡画像の高速な位置合わせ Reviewed

    岩下 友美,倉爪 亮,小西 晃造,中本 将彦,橋爪 誠,長谷川 勉

    電子情報通信学会論文誌   2005.9

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  • 分散メモリシステムにおける大規模距離画像の並列同時位置合わせ手法 Reviewed

    大石 岳史,佐川 立昌,中澤 篤志,倉爪 亮,池内 克史

    情報処理学会論文誌   2005.9

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  • Straight Legged Walking of a Biped Robot Reviewed International journal

    Ryo Kurazume, Shuntaro Tanaka, Masahiro Yamashita, Tsutomu Hasegawa

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   3095 - 3101   2005.8

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    DOI: 10.1109/IROS.2005.1545447

  • 気球搭載型レーザレンジセンサ Reviewed

    長谷川 一英,小川原 光一,倉爪 亮,池内 克史

    電子情報通信学会論文誌   2005.8

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  • Fast Simultaneous Alignment of Multiple Range Images Using Index Images Reviewed International journal

    T. Oishi, A. Nakazawa, R. Kurazume, and K. Ikeuchi

    The 5th International Conference on 3-D Digital Imaging and Modeling (3DIM)   2005.7

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  • Free Space Structurization of Telerobotic Environment for On-line Transition to Autonomous Tele-Manipulation Reviewed International journal

    Tsutomu Hasegawa, Daiki Mukai, Hiroyuki Kobune, Kouji Murakami, and Ryo Kurazume,

    12th Int. Conf. on Advanced Robotics   775 - 781   2005.7

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  • 3次元形状モデルの面クラスタ再帰分割に基づく階層型データ構造と高速描画処理の実現 Reviewed

    辻 徳生,査 紅彬,長谷川 勉,倉爪 亮

    電子情報通信学会論文誌   2005.7

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  • Fast Alignment of 3D Geometrical Models and 2D Color Images using 2D Distance Maps Reviewed International journal

    Yumi Iwashita, Ryo Kurazume, Kenji Hara, and Tsutomu Hasegawa

    The 5th International Conference on 3-D Digital Imaging and Modeling (3DIM)   164 - 171   2005.7

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    DOI: 10.1109/3DIM.2005.39

  • Fast 2D-3D Registration for Navigation System of Surgical Robot Reviewed International journal

    Yumi Iwashita, Ryo Kurazume, Kozo Konishi, Masahiko Nakamoto, Makoto Hashizume, and Tsutomu Hasegawa

    IEEE International Conference on on Robotics and Automation   897 - 903   2005.5

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  • 2つのランドマーク方位計測とデッドレコニングに基づく実時間自己位置同定法 Reviewed

    本村 暁,松岡 毅,長谷川 勉,倉爪 亮

    日本ロボット学会誌   2005.3

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  • シリアルリンクマニピュレータのインピーダンスマッチング Reviewed

    倉爪 亮,長谷川 勉

    日本ロボット学会誌   2005.2

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  • Fast implementation of level set method and its realtime applications Reviewed International journal

    Yumi. Iwashita, Ryo Kurazume, Tokuo Tsuji, Kenji Hara, and Tsutomu Hasegawa

    IEEE International Conference on Systems, Man and Cybernetics   6302 - 6307   2004.9

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    The level set method (LSM) has been widely used for various applications such as motion tracking and 3D geometrical modeling. However, the calculation cost of reinitialization and updating of an implicit function is considerably expensive as compared with conventional active contour models such as "Snakes". To tackle this problem, we propose an efficient algorithm of the LSM named the Fast Level Set Method(FLSM). This paper introduces some experiments based on the FLSM, including 2D real-time tracking of moving objects in video images, and 3D simultaneous motion
    capture system of multiple targets using stereo range images.

  • Human action sensing for proactive human interface: Computer vision approach Reviewed International journal

    Rinichiro Taniguchi, Daisaku Arita, Seiichi Uchida, Ryo Kurazume, and Tsutomu Hasegawa

    International workshop on Processing Sensory Information for Proactive Systems (PSIPS 2004)   2004.8

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  • Levels of Detail Control Based on Correlation Analysis Between Surface Position and Direction Reviewed International journal

    Tokuo Tsuji, Hongbin Zha, Tsutomu Hasegawa, and Ryo Kurazume

    Proc. 17th International Conference on Pattern Recognition (ICPR'04)   622 - 625   2004.8

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    DOI: 10.1109/ICPR.2004.1334606

  • Interactive Rendering with LOD Control and Occlusion Culling Based on Polygon Hierarchies Reviewed International journal

    Tokuo Tsuji, Hongbin Zha, Tsutomu Hasegawa, and Ryo Kurazume

    Proc. Compute Graphics International 2004(CGI'04)   536 - 539   2004.6

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  • Flying Laser Range Finder and its data registration Reviewed International journal

    Yuichiro Hirota, Tomohito Masuda, Ryo Kurazume, Kohichi Ogawara, Kazuhide Hasegawa, Katsushi Ikeuchi

    IEEE Int. Conf. on Robotics and Automation 2004   2004.5

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  • Impedance matching for a serial link manipulator Reviewed International journal

    Ryo Kurazume and Tsutomu Hasegawa

    IEEE Int. Conf. on Robotics and Automation 2004   4802 - 4808   2004.5

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    We propose a new index for dynamic performance analysis of serial link manipulators named Impedance Matching Ellipsoid, or IME. Several indexes have been proposed for indicating static and dynamic performance of robot manipulators. For example, Dynamic Manipulability Ellipsoid (DME) characterizes distributions of hand acceleration produced by normalized joint torque. Manipulating-Force Ellipsoid (MFE) denotes static torque-force transmission effciency from actuators at joints to a hand. On the other hand, the proposed IME
    characterizes dynamic torque-force transmission effciency from actuators at joints to a load held at the hand of the manipulator. The IME includes a wide range of concepts proposed so far as measures of manipulator's performance. The DME and the MFE are both derived from the IME as limiting forms about the load mass. In this paper, we demonstrate the IME with some numerical examples ncluding the selection of an optimal leg posture for jump robots, optimum active stiffness control, and an extension for manipulators mounted on satellites in outer space.

    DOI: 10.1109/ROBOT.2004.1302478

  • 全方位カメラとデッドレコニング機能を有するサッカーロボットのロバストな自己位置同定手法 Reviewed

    倉爪 亮,本村 暁,山口 祐規,松岡 毅,山本 元司,長谷川 勉

    日本ロボット学会誌   2004.3

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  • Designing a laser range finder which is suspended beneath a balloon Reviewed International journal

    Yuichiro Hirota, Tomohito Masuda, Ryo Kurazume, Koichi Ogawara, Kazuhide Hasegawa, Katsushi Ikeuchi

    Sixth Asian Conference on Computer Vision (ACCV)   2004.3

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  • Experimental Study on Energy Efficiency for Quadruped Walking Vehicles Reviewed International journal

    Ryo Kurazume, Ahn Byong-won, Kazuhiko Ohta, Tsutomu Hasegawa

    2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   613 - 618   2003.11

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    Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable gait, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, the energy efficiency of the dynamically stable gait
    is generally lower than the efficiency of the stable gait such as a crawl gait. In this paper, we present an experimental study on the energy efficiency of a quaduped walking vehicle. Energy consumption of two walking patterns for a trot
    gait is investigated through experiments using a quadruped walking vehicle named TITAN-VIII. The obtained results show that the 3D sway compensation trajectory proposed in our previous paper [10] has advantages in view of energy efficiency as compared with the original sway compensation trajectory.

  • Parallel Alignment of a Large Number of Range Images Reviewed International journal

    Takeshi Oishi, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi

    The 4th International Conference on 3D Digital Imaging and Modeling (3DIM 2003)   2003.10

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  • Fast Level Set Methodの提案とビデオ画像の移動物体のリアルタイム追跡 Reviewed

    倉爪 亮,由井 俊太郎,辻 徳生,岩下 友美,原 健二,長谷川 勉

    情報処理学会論文誌   2003.8

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  • The Sway Compensation Trajectory for a Biped Robot Reviewed International journal

    Ryo Kurazume, Tsutomu Hasegawa, Kan Yoneda

    IEEE Int. Conf. on Robotics and Automation   925 - 931   2003.5

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    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.

  • 2足歩行ロボットの省自由度構成 Reviewed

    米田,玉木,太田,倉爪

    日本ロボット学会誌   2003.1

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  • 2足歩行機械の3D揺動歩容 Reviewed

    倉爪,米田,田中,玉木,太田,長谷川

    日本ロボット学会誌   2003.1

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  • 大規模観測対象のための幾何形状および光学情報統合システム Reviewed

    佐川,西野,倉爪,池内

    情報処理学会CVIM論文誌   2003.1

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  • Iterative Refinement of Range Images with Anisotropic Error Distribution Reviewed International journal

    Ryusuke Sagawa, Takeshi Oishi, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi

    2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems   2002.10

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  • Simultaneous 2D images and 3D geometric model registration for texture mapping utilizing reflectance attribute Reviewed International journal

    Ryo Kurazume, Ko Noshino, Zhengyou Zhang, and Katushi Ikeuchi

    Proc. of Fifth Asian Conference on Computer Vision (ACCV)   2002.3

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    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.

  • Feedforward and feedback dynamic trot gait control for quadruped walking vehicle Reviewed International journal

    R. Kurazume, K. Yoneda, and S. Hirose

    Autonomous Robots   2002.1

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  • Modeling Cultural Heritage Through Observation Invited Reviewed International journal

    Katsushi Ikeuchi, Yutaka Takase, Ryo Kurazume, Takeshi Ooishi, Ryusuke Sagawa, Ko Nishino

    Int. Sympo. on Artificial Intelligence, Robotics and Human Centered Technology for Nuclear Applications   2002.1

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  • The Great Buddha Project,−大規模文化遺産のデジタルコンテンツ化− Reviewed

    池内,倉爪,西野,佐川,大石,高瀬

    日本バーチャルリアリティ学会論文誌   2002.1

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  • リフレクタンスエッジと濃淡エッジを用いたテクスチャのアラインメント Reviewed

    倉爪,西野,M.D.Wheeler,池内

    電子情報通信学会論文誌D-II   2002.1

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  • Parallel Alignment of a Large Number of Range Images Reviewed International journal

    Takeshi Oishi, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi

    The 4th International Conference on 3D Digital Imaging and Modeling (3DIM 2003)   2001.10

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  • Feedforward and feedback dynamic trot gait control for a quadruped walking vehicle Reviewed International journal

    Ryo Kurazume, Kan Yoneda, and Shigeo Hirose

    IEEE Int. Conf. on Robotics and Automation   2001.5

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    To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive attitude control using sensory information (feedback control) is indispensable. In this paper, we initially propose a new trajectory planning for the stable trot gait named 3D sway compensation trajectory, and show that this trajectory has lower energy consumption than the conventional sway trajectory that the authors have proposed. Next, as the adaptive attitude control method used during the 2-leg supporting phase of the trot gait, we consider four methods: a) rotation of body along the diagonal line between supporting feet, b) translation of body along the perpendicular line between supporting feet, c) vertical swing motion of recovering legs, and d) horizontal swing motion of recovering legs. The stabilization efficiency of each method is verified through computer simulation and the damping experiment using a quadruped walking robot, TITAN-VIII. Furthermore, the dynamic trot gait control that combines the feedforward control based on the proposed 3D sway compensation trajectory and the adaptive feedback control using body translation and vertical motion of swing legs is developed, and the walking experiment on rough terrain using TITAN-VIII is carried out.

  • Mapping textures on 3D geometric model using reflectance image International journal

    Ryo Kurazume, Mark D. Wheeler, and Katushi Ikeuchi

    Workshop for "Data Fusion" at IEEE Int. Conf. on Robotics and Automation   2001.5

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    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 M-estimator.

  • 4足歩行機械の動歩行時の姿勢安定化制御 Reviewed

    倉爪,葉石,米田,広瀬

    日本ロボット学会誌   2001.1

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  • 4足歩行機械の3D揺動歩容 Reviewed

    倉爪,米田,広瀬

    日本ロボット学会誌   2001.1

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  • Development of image stabilization system for a remote operation of walking robots International journal

    Ryo Kurazume and Shigeo Hirose

    IEEE Int. Conf. on Robotics and Automation   2000.5

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    Walking robots have high adaptability for terrain variation, and thus, have been expected as effective moving platform on uneven terrain, stairs, forest, marshy surface, and on ice. On the other hand, mobile robots that perform several hazardous tasks such as mine detection or the inspection of an atomic power plant are typically controlled by operators from distant places. For a remote operation system, use of visual information from a camera mounted on a robot body is very useful. However, unlike wheeled vehicles, the camera mounted on the walking robot oscillates because of the impact of walking, and the obtained unstable images cause inferior operation performance. In this paper, we introduce an image stabilization system for remote operation of walking robots using a high speed CCD camera and gyrosensors. The image stabilization is executed in two phases, that is, the estimation of the amount of oscillation by the combination of the template matching method and gyrosensors, and change of the display region. Pentium MMX instruction is used for template matching calculation, and the estimated amount of oscillation is outputted in every 12 [msec.]. Furthermore, developed image stabilization mechanism can be used an external attitude sensor from the visual information, and the damping control of the robot body while walking is also possible. Experimental results showed stabilized images that eliminates the oscillation component are taken even when the robot moves dynamically or in long distance, and verified that the performance of attitude control using the developed image stabilization system is almost same as the case using an attitude sensor.

  • An Experimental Study of a Cooperative Positioning System Reviewed International journal

    R. Kurazume and S. Hirose

    Autonomous Robots   2000.1

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  • An experimental study of a Cooperative Positioning System Reviewed

    Ryo Kurazume, Shigeo Hirose

    Autonomous Robots   8 ( 1 )   43 - 52   2000.1

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    DOI: 10.1023/A:1008988801987

  • Development of a Cleaning Robot System with Cooperative Positioning System Reviewed International journal

    R. Kurazume and S. Hirose

    Autonomous Robots   2000.1

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  • 高速画像安定化機構を用いた歩行機械の遠隔操縦性能向上に関する研究 Reviewed

    倉爪,広瀬

    日本ロボット学会誌   2000.1

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  • 協調ポジショニングシステムの研究 -CPSアクティブタッチ融合型地図生成法- Reviewed

    倉爪,広瀬,岩崎,長田

    日本ロボット学会誌   1999.1

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  • Study on Cooperative Positioning System - Optimum Moving Strategies for CPS-III - Reviewed International journal

    Ryo Kurazume and Shigeo Hirose

    IEEE Int. Conf. on Robotics and Automation   1998.5

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    Several position identification methods are being used for mobile robots. Dead reckoning is a popular method but due to the accumulation error from wheel slippage, reliability is low for the 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 respectively, 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 error, 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, focus will be on the discussion of the relationship between moving configurations of CPS and its positioning accuracy for the latest prototype CPS model, CPS-III, using simulation and analytical techniques. Optimum moving strategies in order to minimize positioning error are then discussed and verified through experiments.

  • 協調ポジショニングシステムの研究 -CPS-IIIを用いた自動清掃ロボットシステムの開発- Reviewed

    倉爪,広瀬,岩崎,長田,指田

    日本ロボット学会誌   1998.1

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  • 協調ポジショニングシステムの研究 -CPS-II型システムの最適化移動形態- Reviewed

    倉爪,広瀬,岩崎,長田,指田

    日本ロボット学会誌   1997.1

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  • Study on Cooperative Positioning System -Basic Principle and Measurement Experiment- Reviewed International journal

    Ryo Kurazume, Shigeo Hirose, Shigemi Nagata, and N. Sashida

    IEEE Int. Conf. on Robotics and Automation   1996.5

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    Several position identification methods have been used for mobile robots. Dead reckoning is a popular method, but is not reliable for long distances or uneven surfaces because of variations in wheel diameter and slippage. The landmark method, which estimates current position relative to landmarks, cannot be used in an uncharted environment. We have proposed a new method called "Cooperative Positioning System (CPS)." For CPS, we divide the robots into two groups, A and B. One group, A, remains stationary and acts as a landmark while group B moves. Group B then stops and acts as a landmark for group A. This "dance" is repeated until the target position is reached. By using the concept of "portable landmarks", CPS has a far lower accumulation of positioning error than dead reckoning, and can work in three-dimensions which is not possible with dead reckoning. CPS, therefore, can work in uncharted environments. In this paper, we outline a second prototype CPS machine model (CPS-II) and report the results of position identification experiments. Experimental results using this model give a positioning accuracy of 0.4% for position and 1.0 degree for attitude.

  • 協調ポジショニングシステムの研究-冗長位置情報の融合と機械モデル実験- Reviewed

    倉爪,広瀬,岩崎,長田,指田

    日本ロボット学会誌   1996.1

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  • 群ロボットによる協調ポジショニング法 Reviewed

    広瀬,倉爪,長田

    日本ロボット学会誌   1995.1

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  • Cooperative Positioning with Multiple Robots Reviewed International journal

    Ryo Kurazume, Shigemi Nagata and Shigeo Hirose

    IEEE Int. Conf. on Robotics and Automation   1994.5

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    Several position identification methods are being used for mobile robots. Dead reckoning is a popular method but due to the accumulation error from wheel slippage, reliability is low for the 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 respectively, 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 error, and can also work in three-dimensions. Furthermore, CPS has inherent landmarks and therefore can be used in uncharted environments unlike the landmark method. In this paper, focus will be on the discussion of the relationship between moving configurations of CPS and its positioning accuracy for the latest prototype CPS model, CPS-III, using simulation and analytical techniques. Optimum moving strategies in order to minimize positioning error are then discussed and verified through experiments.

  • Cooperative Positioning with Multiple Robot Reviewed International journal

    Ryo Kurazume, Shigemi Nagata and Shigeo Hirose

    JSME 2nd Int. Conf. on Motion and Vibration Control   1994.1

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    ,

  • Stabilization of an inverted pendulum by a layered neural network Reviewed

    Minoru Sekiguchi, Tamami Sugasaka, Ryo Kurazume

    Fujitsu Scientific and Technical Journal   29 ( 3 )   278 - 285   1993.9

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  • Modeling of Collision Dynamics for Space Free-Floating Links with Extended Generalized Inertia Tensor Reviewed International journal

    Kazuya Yoshida, Ryo Kurazume, Naoki Sashida, and Yoji Umetani

    IEEE Int. Conf. on Robotics and Automation   1992.5

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  • Modeling of collision dynamics for space free-floating links with extended generalized inertia tensor Reviewed

    Kazuya Yoshida, Naoki Sashida, Ryo Kurazume, Yoji Umetani

    Proceedings - IEEE International Conference on Robotics and Automation   1   899 - 904   1992.4

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    Language:English   Publishing type:Research paper (other academic)  

    DOI: 10.1109/ROBOT.1992.220182

  • 集積回路チップ内微小発熱素子の伝熱特性に関する研究 Reviewed

    長崎・伏信・土方・倉爪

    日本機械学会論文集 (B編)   1992.1

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  • 宇宙ロボットの多腕協調制御(スタビライジングアームの利用による 制御トルクの最適化) Reviewed

    吉田,倉爪,梅谷

    日本ロボット学会誌   1991.1

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  • Dual Arm Coordination in Space Free-Flying Robot Reviewed International journal

    Kazuya Yoshida, Ryo Kurazume, and Yoji Umetani

    IEEE Int. Conf. on Robotics and Automation   1991.1

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  • A Study on Heat Transfer from Small Heating Elements in anIntegrated Circuit Chip Reviewed International journal

    K. Hijikata, T. Nagasaki, R. Kurazume, K. Fushinobu and W. Nakayama

    3rd ASME/JSME Thermal Engng Joint Conf.   1991.1

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  • Institute of Industrial Science, Reviewed

    Takeshi Oishi, Ryusuke Sagawa, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi

    1900

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    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.

  • Simultaneous 2D images and 3D geometric model registration for texture mapping utilizing reflectance attribute Reviewed

    Ryo Kurazume, Ko Nishino, Zhengyou Zhang, Katsushi Ikeuchi

    1900

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    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

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Books

  • Development of Fabric Sensor System toward Natural Pre-touch and Touch Interaction

    Sumioka H., Minato T., An Q., Kurazume R., Shiomi M.

    Social Touch in Human-Robot Interaction: Symbiotic Touch Interaction between Human and Robot  2024.1    ISBN:9781040015223, 9781032470269

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    In this section, we propose social touch as the integration of both pre- and post-touch interactions. To build a social robot that facilitates both interactions, we develop a touch sensor system that enables a robot to detect interactions both before and after being touched by a human. As a first step, we develop a proximity and touch sensor for social touch using a fabric-based sensor and describe its promising characteristics for evaluating social touch. We also show two applications of our sensor in a social context involving elderly care and discuss future studies.

    DOI: 10.1201/9781003384274-4

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  • ロボット工学ハンドブック

    @倉爪 亮 他( Role: Joint author)

    コロナ社  2023.3 

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    Language:Japanese   Book type:Scholarly book

  • ROSロボットプログラミングバイブル

    表 允晳, 倉爪 亮, 鄭 黎縕

    オーム社  2018.3 

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    Responsible for pages:出版社:オーム社 ISBNコード:978-4-274-22196-5 ページ数:452p   Language:Japanese  

  • 詳説 ROSロボットプログラミング - 導入からSLAM・Gazebo・MoveItまで -

    表 允晳, 倉爪 亮, 渡邊 裕太( Role: Joint author)

    2015.12 

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    Language:Japanese   Book type:General book, introductory book for general audience

  • 医用画像解析ハンドブック

    倉爪 亮 他( Role: Joint author)

    オーム社  2012.9 

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  • ロボットテクノロジー

    倉爪 亮 他( Role: Joint author)

    オーム社  2011.8 

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  • -CVIMチュートリアルシリーズ- コンピュータビジョン 最先端ガイド1

    倉爪 亮 他( Role: Joint author)

    アドコム・メディア(株)  2008.12 

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  • 日本機械学会 機械工学便覧

    倉爪 亮 他( Role: Joint author)

    (社)日本機械学会  2008.11 

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  • まるまる!ロボットビジョン 映像情報インダストリアル 増刊号

    倉爪 亮 他( Role: Joint author)

    産業開発機構(株)  2008.9 

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    Language:Japanese   Book type:General book, introductory book for general audience

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Presentations

  • 海洋破砕プラスチックごみ回収ロボットの開発

    宇野光輝, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2024.1 

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    Event date: 2024.1

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  • Development of Garbage Collecting Robot for Marine Microplastics.

    Mitsuki Uno, Ryo Kurazume

    SII  2024.1 

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    Event date: 2024.1

    Marine microplastics originate from plastic products and are crushed as they drift through the ocean, posing a serious threat to marine ecosystems. Nonetheless, collecting these scattered and small microplastics by hand from washed-up beaches is challenging. Consequently, we are working on designing a cleaning robot to automatically gather marine microplastics on beaches. This paper outlines the primary mechanism of the cleaning robot and explores the necessary functions for effective microplastic collection. Two kinds of experiments exploring the behavior of sand in stationary and dynamically states, 'Pseudo-Angle of Repose Measurement Experiment' and 'Claw Excavation Experiment', are carried out using an experimental model of a cleaning robot.

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    Other Link: https://dblp.uni-trier.de/db/conf/sii/sii2024.html#UnoK24

  • ロボット支援手術内視鏡画像から3D臓器モデル画像を出力する画像変換モデルの構築

    月野圭治, 月野圭治, 宮内翔子, 小林聡, 小栗晋, 牟田口淳, 塚原茂大, 後藤駿介, 松元崇, 門司恵介, 塩田真己, 猪口淳一, 沖英次, 沖英次, 倉爪亮, 江藤正俊

    日本コンピュータ外科学会誌(Web)  2023.12 

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    Event date: 2023.12

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  • Construction of An Image Conversion Model to Generate 3D Organ Model Images from Robot-assisted Surgery Endoscopic Images

    月野圭治, 月野圭治, 宮内翔子, 小林聡, 小栗晋, 牟田口淳, 塚原茂大, 後藤駿介, 松元崇, 門司恵介, 塩田真己, 猪口淳一, 沖英次, 沖英次, 倉爪亮, 江藤正俊

    日本コンピュータ外科学会誌(Web)  2023.12 

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  • スワームロボットシステムを用いた室内照度測定器の開発

    酒見和幸, 古野純二, 福田貴子, 池田義明, 倉爪亮, 松本耕平, 西浦悠生

    建築設備と配管工事  2023.7 

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    Event date: 2023.7

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  • Development for an autonomous iluminance measurement robot using swarm robotics

    酒見和幸, 古野純二, 福田貴子, 池田義明, 倉爪亮, 松本耕平, 西浦悠生

    建築設備と配管工事  2023.7 

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  • RGBD画像を用いた人物姿勢推定―ICPアルゴリズムによる位置補正(第一報)―

    森永 亘, 河村 晃宏, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2023.6 

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    Event date: 2023.6

    Language:Japanese  

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  • Human Pose Estimation Using RGBD Images-Improvement of acuuracy by ICP algorithm-

    MORINAGA Wataru, KAWAMURA Akihiro, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Event date: 2023.6

    Language:Japanese  

    This paper presents a method to improve the accuracy of human pose estimation using RGBD images. 3D pose estimation based on mapping depth images to RGB images has a problem. It is the error in the depth direction caused by the low accuracy of the depth image and the fact that the estimated points are on the surface of the body. This paper proposes a method to improve the accuracy by using a correction algorithm based on ICP. The method consists of a measurement system that measures RGBD images and estimates human posture, and a correction algorithm using ICP.

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  • フローベース生成モデルを利用したオフライン強化学習による動的環境下での移動ロボットナビゲーション

    松本 耕平, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2023.6 

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    Event date: 2023.6

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  • 高精度GNSSを用いた自律移動草刈りロボットの開発-第三報 QZSSとVisual SLAMカメラによる位置推定と経路追従実験-

    松本耕平, 大城孝弘, 渡邉崇, 下窪竜, 小玉尚人, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2023.6 

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  • 群ロボットを用いた竣工前建築物の照度測定システムの開発

    西浦 悠生, 酒見 和幸, 古野 純二, 福田 貴子, 池田 義明, 松本 耕平, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2023.6 

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    Event date: 2023.6

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  • 理学療法士の介入技能を再現する足底部の刺激装置の開発―健常児に与える効果の検証―

    古賀 洋平, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2023.6 

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  • 土工現場用CPSプラットフォームROS2-TMS for Constructionの開発

    前田 龍一, 井塚 智也, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2023.6 

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    Event date: 2023.6

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  • 公衆5G網を用いた屋外監視移動ロボットシステムの開発

    段上 将門, 松本 耕平, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2023.6 

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  • 人の意思と時間を錯覚により制御する遠隔操作手法―第三報:Neural Radiance Fieldsを用いた未知環境への適用可能性検証―

    青木 惇季, 佐々木 史紘, 山科 亮太, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2023.6 

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  • Mobile Robot Navigation in Dynamic Environments by Offline Reinforcement Learning using Flow-Based Generative Model

    MATSUMOTO Kohei, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Event date: 2023.6

    Language:Japanese  

    We propose a novel navigation method applying an offline reinforcement learning method based on Implicit Policy Constraint to mobile robot navigation in environments with pedestrians. The proposed method utilizes a flow-based generative model for the behavior policy, and the latent policy is trained using a method based on Advantage-Weighted Regression. The proposed method is evaluated in a simulation environment.

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  • Development of Outdoor Surveillance Mobile Robot System

    DANJO Masakado, MATSUMOTO Kohei, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Event date: 2023.6

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    In this study, we developed an outdoor surveillance robot system using public 5G. The robot patrolling outdoors is connected to a remote observer via 5G and ROS2, and the observer control the robot while monitoring camera images remotely. We tested three network configurations to realize remote communication. Experiments for remote autonomous surveillance were conducted.

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  • Teleoperation Method by Illusion of Human Intention and Time-Verification of applicability to unknown environments using Neural Radiance Fields-

    AOKI Junki, SASAKI Fumihiro, YAMASHINA Ryota, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Event date: 2023.6

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    Illusory control (IC) that is teleoperation method we proposed was based on the premise that the virtual environment is prepared in advance. Therefore, the mobile robot using IC can function only in known environment. This paper presents ”Instant illusory control” that no need to prepare the virtual environment in advance. The proposed robot system can instantly create a virtual environment from real images of the robot in motion using Instant NGP as one of methods in Neural Radiance Fields. Additionally, using 360-degree images, the environment around the robot can be comprehensively virtualized without demanding on the camera poses. Furthermore, using the depth estimation result of the images in advance for the optimization of the density of neural radiance fields, the reconstruction accuracy at unknown poses is ensured as well. Using this virtual environment instantly created, teleoperation by transition between real and virtual environments is expected to function in unknown environment. The experimental result shows that the proposed system can achieve a consistent back and forth between virtual and real spaces in mobile robot teleoperation.

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  • ROS2-TMS for Construction: CPS platform for earthwork sites

    MAEDA Ryuichi, ITSUKA Tomoya, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Event date: 2023.6

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    The civil engineering and construction industry has seen an increase in occupational accidents in recent years. Although several systems to improve the efficiency of earthwork operations have been developed, they have not directly involved in improving safety. The objective of this study is to explore the use of a cyber-physical system (CPS) to improve both the efficiency and safety of earthwork operations. The CPS platform should have a function to store and manage environmental information in a database. The ROS2-TMS, which is the CPS platform for service robots, satisfies this requirement. However, the ROS2-TMS cannot handle environmental information specific to earthwork sites, such as terrain and ground data. Therefore, in this research, we developed an improved version of ROS2-TMS named ROS2-TMS for Construction that can store and manage site-specific environmental information in a database. Additionally, we developed a VR interface to visualize the stored environmental information.

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  • Development of Autonomous Mobile Mowing Robot Using High-Precision GNSS-3rd Report: Localization with QZSS and Visual SLAM Camera, and Path Following Experiments-

    松本耕平, 大城孝弘, 渡邉崇, 下窪竜, 小玉尚人, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2023.6 

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  • Development of a multi-robot system for illuminance measurement

    NISHIURA Yuki, SAKEMI Kazuyuki, FURUNO Junji, FUKUDA Takako, IKEDA Yoshiaki, MATSUMOTO Kohei, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Event date: 2023.6

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    In facility construction of a building, illuminance measurement is required to verify that the illuminance condition satisfies JIS regulations before its completion. In order to perform illuminance measurement accurately, measurements are conducted at night, causing long working hours at night. In this paper, we propose an autonomous illuminance measurement robot system consisting of multiple robots. The experiments show that the measurement errors of illuminance compared to the human measurements is 1.36% and the measurement time is reduced about 12%.

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  • Development of stimulation device of foot sole imitating intervention skills of physical therapist-Verification of effects on healthy children-

    Koga Yohei, An Qi, kurazume Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Event date: 2023.6

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    This study is developing a device replicating the intervention skills of physical therapist (PT) that enables children with cerebral palsy to receive rehabilitation at home. Previous studies have measured the PT’s intervention skills and examined the effects of intervention on motor function. This paper describes the development of a stimulation device that replicates the PT’s skills identified in the previous study and experiments to verify the performance of the device. We developed a device that stimulates foot sole using a pneumatic actuator. It was tested whether the device could intervene with the same force as PT on a healthy child. The results showed that the device exerted less force than PT. We also examined the change in motor function before and after the intervention by the device. The results showed that the device tended to improve motor function after the intervention, with a decrease in foot pressure center sway and a decrease in lower limb muscle activity.

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  • 走り出した自動運 小型農業機械に広がる自動運転技術の開発と課題

    下窪竜, 倉爪亮

    自動車技術(Web)  2023.5 

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    Event date: 2023.5

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  • Development of Autonomous Driving Technology Spreading to Small Agricultural Machinery

    下窪竜, 倉爪亮

    自動車技術(Web)  2023.5 

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  • 土木工事における地盤剛性評価・安全管理のための分散型センサポッドの開発

    福田健太郎, 中嶋一斗, 玉石祐介, 玉石祐介, 前田龍一, 松本耕平, 倉爪亮

    ロボティクスシンポジア予稿集  2023.3 

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    Event date: 2023.3

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  • Development of Distributed Sensor Pods for Evaluation of Ground Stiffness and Safety Management at Civil Engineering Fields

    福田健太郎, 中嶋一斗, 玉石祐介, 玉石祐介, 前田龍一, 松本耕平, 倉爪亮

    ロボティクスシンポジア予稿集  2023.3 

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  • 4自由度インフレータブルロボットアームの手先剛性楕円体制御

    竹中孝太, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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    Event date: 2022.12

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  • 海洋破砕プラスチックごみ回収ロボットシステムの開発-レーザースキャナの反射輝度によるごみ検出とロボットの誘導-

    有瀬昌矢, 松本耕平, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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    Event date: 2022.12

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  • 歪みゲージを用いたボルト型力覚センサの開発-クライミング動作計測による実験的検証-

    中嶋峻大, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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    Event date: 2022.12

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  • 人に自然な行動変容を促す情報提示技術に関する研究

    西浦悠生, 山田弘幸, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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  • クローラを用いた屋外監視ロボットシステムの開発-公衆5G回線を用いた遠隔監視と制御-

    段上将門, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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    Event date: 2022.12

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  • Stiffness Ellipsoid Control of a 4-DoF Inflatable Robotic Arm

    竹中孝太, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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  • Research on the strategy of designing information presentation for changing people’s behavior naturally.

    西浦悠生, 山田弘幸, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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  • Development of Outdoor Surveillance Robot System using Crawlers-Remote Surveillance and Control using Public 5G-

    段上将門, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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  • Bolt Type Force Sensor using Strain Gauges for Sport Climbing-Verification by Measurement of Climbing Movement-

    中嶋峻大, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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  • Development of Garbage Collecting Robot for Marine Microplastics-Detection of Microplastics using Laser Reflectance and Robot Navigation-

    有瀬昌矢, 松本耕平, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022.12 

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  • THE EFFECT OF COMMUNICATION SKILLS TRAINING FOR NURSING STUDENTS BY AUGMENTED REALITY SIMULATION SYSTEM

    Masaki Kobayashi, Miyuki Iwamoto, Saki Une, Ryo Kurazume, Atsushi Nakazawa, Miwako Honda

    INNOVATION IN AGING  2022.11 

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  • 3次元心臓モデルためのフレーム補間手法の構築

    チャン チュジェ, 宮内翔子, 諸岡健一, 倉爪亮

    情報処理学会研究報告(Web)  2022.11 

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  • 3次元心臓モデルためのフレーム補間手法の構築

    チャン チュジェ, 宮内翔子, 諸岡健一, 倉爪亮

    情報処理学会研究報告(Web)  2022.11 

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  • THE EFFECT OF COMMUNICATION SKILLS TRAINING FOR NURSING STUDENTS BY AUGMENTED REALITY SIMULATION SYSTEM

    Masaki Kobayashi, Miyuki Iwamoto, Saki Une, Ryo Kurazume, Atsushi Nakazawa, Miwako Honda

    INNOVATION IN AGING  2022.11  OXFORD UNIV PRESS

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  • 3D LiDARセンサの点群投影方式による計測距離と歩行方向に対する歩容認証の頑健性評価

    安正鎬, 中嶋一斗, 吉野弘毅, 岩下友美, 岩下友美, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • 飛び移り座屈を利用した軽量ソフトグリッパの開発 第3報 把持対象にかかる局所的な負荷を分散する爪形状の提案

    花守拓樹, 河村晃宏, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • 歩容特徴の抽出精度向上のための異なる人物間の特徴交換を用いた歩容認証

    吉野弘毅, 中嶋一斗, 安正鎬, 岩下友美, 岩下友美, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • ワイヤレス距離センサのNLoS情報を活用した屋内ロボット位置推定手法の開発

    井塚智也, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • ユマニチュード介護の「触れる」スキルの評価と被介護者の情動の変化の解明

    安積諒馬, AN Qi, 中嶋一斗, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • グラフ畳み込み構造を持つ予測状態表現を用いた深層強化学習による移動ロボットナビゲーション

    松本耕平, 河村晃宏, 安き, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • 3D LiDARセンサの点群投影方式による計測距離と歩行方向に対する歩容認証の頑健性評価

    安正鎬, 中嶋一斗, 吉野弘毅, 岩下友美, 岩下友美, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • ワイヤレス距離センサのNLoS情報を活用した屋内ロボット位置推定手法の開発

    井塚智也, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • ユマニチュード介護の「触れる」スキルの評価と被介護者の情動の変化の解明

    安積諒馬, AN Qi, 中嶋一斗, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • グラフ畳み込み構造を持つ予測状態表現を用いた深層強化学習による移動ロボットナビゲーション

    松本耕平, 河村晃宏, 安き, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • 歩容特徴の抽出精度向上のための異なる人物間の特徴交換を用いた歩容認証

    吉野弘毅, 中嶋一斗, 安正鎬, 岩下友美, 岩下友美, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • 飛び移り座屈を利用した軽量ソフトグリッパの開発 第3報 把持対象にかかる局所的な負荷を分散する爪形状の提案

    花守拓樹, 河村晃宏, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022.9 

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  • 幼児の足底部への理学療法士の介入技能の解析と立位姿勢中の足底圧中心・筋電位に与える影響の評価

    古賀洋平, 安き, 倉爪亮

    LIFE講演概要集(CD-ROM)  2022.8 

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  • 多点同期振動データの波形歪みに基づく地盤剛性評価手法の提案

    福田健太郎, 中嶋一斗, 倉爪亮

    建設ロボットシンポジウム論文集(CD-ROM)  2022.8 

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  • A Method for Evaluating Ground Stiffness Based on Waveform Distortion of Multipoint Synchronous Vibration Data

    福田健太郎, 中嶋一斗, 倉爪亮

    建設ロボットシンポジウム論文集(CD-ROM)  2022.8 

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  • Analysis of physical therapists’intervention for infants and evaluation of effects on plantar pressure and muscle activity during standing posture

    古賀洋平, 安き, 倉爪亮

    LIFE講演概要集(CD-ROM)  2022.8 

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  • 患者の心臓動的形状とメタデータを用いた虚血性心疾患診断システムの構築

    宮内翔子, 諸岡健一, 倉爪亮

    電子情報通信学会技術研究報告(Web)  2022.7 

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  • 患者の心臓動的形状とメタデータを用いた虚血性心疾患診断システムの構築

    宮内翔子, 諸岡健一, 倉爪亮

    電子情報通信学会技術研究報告(Web)  2022.7 

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  • 人の意思と時間を錯覚により制御する遠隔操作手法 -第二報:移動ロボットの実機検証-

    #青木 惇季, @佐々木 史紘, @山科 亮太, @倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2022  2022.6 

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    Venue:札幌   Country:Japan  

  • レトロフィット型バックホウ遠隔操縦システムの開発

    #西浦 悠生, @中嶋 一斗, @倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2022  2022.6 

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  • 転圧地盤評価のための分散型センサポッドの開発 -第2 報多点同期振動データの波形歪みに基づく地盤剛性の定量化-

    #福田健太郎, @中嶋 一斗, @倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2022  2022.6 

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  • レトロフィット型バックホウ遠隔操縦システムの開発

    西浦 悠生, 中嶋 一斗, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2022  2022.6 

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  • 人の意思と時間を錯覚により制御する遠隔操作手法 -第二報:移動ロボットの実機検証-

    青木 惇季, 佐々木 史紘, 山科 亮太, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2022  2022.6 

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  • 転圧地盤評価のための分散型センサポッドの開発 -第2 報多点同期振動データの波形歪みに基づく地盤剛性の定量化-

    福田健太郎, 中嶋 一斗, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2022  2022.6 

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  • Teleoperation Method by Illusion of Human Intention and Time-Vol. 2: Verification of actual mobile robots-

    AOKI Junki, YAMASHINA Ryota, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2022.6  The Japan Society of Mechanical Engineers

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    This paper presents a novel teleoperation method called “Illusory control” to address the problem of reduced acceptance due to the disagreement between human and robot intentions in shared control. We have reported the simulation results of the teleoperation behavior using Illusory control. This paper describes the improvements of the proposed system and shows the results of experiments using an actual robot and realistic virtual images by CycleGAN.

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  • Development of Distributed Sensor Pods for Evaluation of Compacted Ground-Quantification of Ground Stiffness Based on Waveform Distortion of Multipoint Synchronous Vibration Data-

    FUKUDA Kentaro, NAKASHIMA Kazuto, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2022.6  The Japan Society of Mechanical Engineers

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    In this study, we develop a sensor terminal with multiple and various sensors named sensor pod, which collects various environmental information at a construction site. The sensor pod is equipped with a 3D-LiDAR and a vibration sensor, which can be used to predict the surrounding hazards and evaluate the ground stiffness. In this paper, we introduce a method of evaluating ground stiffness using the waveform distortion of multi-point synchronized vibration data obtained by the distributed sensor pods.

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  • 陰的画像表現を用いた3D LiDARデータの深層生成モデリング

    @中嶋 一斗, @岩下 友美, @倉爪 亮

    第27回ロボティクスシンポジア  2022.3 

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  • 陰的画像表現を用いた3D LiDARデータの深層生成モデリング

    中嶋 一斗, 岩下 友美, 倉爪 亮

    第27回ロボティクスシンポジア  2022.3 

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  • Soft Gripper Using 3D Snap-Through Buckling for Perishable Fresh Fruits Handling

    @Hiroki Hanamori, #Akihiro Kawamura, #Ryo Kurazume

    27th International Symposium on Artificial Life and Robotics (AROB 27th 2022)  2022.1 

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  • Soft Gripper Using 3D Snap-Through Buckling for Perishable Fresh Fruits Handling

    Hiroki Hanamori, Akihiro Kawamura, Ryo Kurazume

    27th International Symposium on Artificial Life and Robotics (AROB 27th 2022)  2022.1 

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  • Development of a Chair to Support Human Standing Motion -Seat movement mechanism using zip chain actuator-

    #Yamato Kuroda, @Qi An, @Hiroshi Yamakawa, @Shingo Shimoda, @Jun-ichiro Furukawa, @Jun Morimoto, @Yuichi Nakamura, @Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)  2022.1 

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  • Mobile Robot Navigation using Learning-based Method based on Predictive State Representation in a Dynamic Environment

    #Kohei Matsumoto, @Akihiro Kawamura, @Qi An, @Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)  2022.1 

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  • Gait Recognition using Identity-Aware Adversarial Data Augmentation

    #Koki Yoshino, @Kazuto Nakashima, #Jeongho Ahn, @Yumi Iwashita, @Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)  2022.1 

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  • 2V-Gait: Gait Recognition using 3D LiDAR Robust to Changes in Walking Direction and Measurement Distance

    #Jeongho Ahn, @Kazuto Nakashima, @Koki Yoshino, @Yumi Iwashita, @Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)  2022.1 

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  • 2V-Gait: Gait Recognition using 3D LiDAR Robust to Changes in Walking Direction and Measurement Distance

    Jeongho Ahn, Kazuto Nakashima, Koki Yoshino, Yumi Iwashita, Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)  2022.1 

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  • Mobile Robot Navigation using Learning-based Method based on Predictive State Representation in a Dynamic Environment

    Kohei Matsumoto, Akihiro Kawamura, Qi An, Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)  2022.1 

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  • Gait Recognition using Identity-Aware Adversarial Data Augmentation

    Koki Yoshino, Kazuto Nakashima, Jeongho Ahn, Yumi Iwashita, Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)  2022.1 

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  • Development of a Chair to Support Human Standing Motion -Seat movement mechanism using zip chain actuator-

    Yamato Kuroda, Qi An, Hiroshi Yamakawa, Shingo Shimoda, Jun-ichiro Furukawa, Jun Morimoto, Yuichi Nakamura, Ryo Kurazume

    2022 IEEE/SICE International Symposium on System Integration (SII)  2022.1 

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  • 巻頭言:特集号「第21回計測自動制御学会システムインテグレーション部門講演会」について

    牛見 宣博, 倉爪 亮, 村上 剛司, 西村 悠樹

    計測自動制御学会論文集  2022.1 

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  • Preface to Special Issue on the 21st SICE System Integration Division Annual Conference

    USHIMI Nobuhiro, KURAZUME Ryo, MURAKAMI Kouji, NISHIMURA Yuki

    Transactions of the Society of Instrument and Control Engineers  2022.1  The Society of Instrument and Control Engineers

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  • 「ウェルウォークWW-1000」における脳卒中片麻痺者の認知・高次脳機能障害も含めた歩行能力改善因子の検討

    宮永陽亮, 宮永陽亮, 平川裕紀, 東洋介, 倉爪康裕, 河野寛一, 森下元賀

    九州理学療法士学術大会誌(Web)  2022 

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  • Development of Retrofit Type Backhoe Remote Control System (Second report: Improvement of operability and development of retrofit sensing system)

    柴田航志, 西浦悠生, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2022 

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  • 歩行監視レベルに至らなかった脳卒中片麻痺者へのウェルウォーク使用がADL改善に及ぼす因子の検討

    宮永陽亮, 倉爪康裕, 東洋介, 平川裕紀, 河野寛一

    Japanese Journal of Rehabilitation Medicine  2022 

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  • 長下肢装具のカットダウン時期に客観的指標を取り入れて検討した1症例

    原口真理士, 東洋介, 倉爪康裕, 宮永陽亮

    臨床と理学療法  2022 

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  • 転圧地盤評価のための分散型センサポッドの開発

    #福田 健太郎, @中嶋 一斗, @倉爪 亮

    第22回計測自動制御学会システムインテグレーション部門講演会  2021.12 

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  • パーティクルフィルタを用いたボルト型力覚センサの高精度化

    #中嶋 峻大, @河村 晃宏, @倉爪 亮

    第22回計測自動制御学会システムインテグレーション部門講演会  2021.12 

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    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 高精度 GNSS を用いた自律移動草刈りロボットの開発 ―第二報 QZSS と ROS2 を用いたシステム構築と実証実験―

    #林 拓真, @大城 孝弘, @渡邉 崇, @下窪 竜, @小玉 尚人, @倉爪 亮

    第22回計測自動制御学会システムインテグレーション部門講演会  2021.12 

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  • 海洋破砕プラスチックごみ回収機構の開発

    #宇野 光輝, @倉爪 亮

    第22回計測自動制御学会システムインテグレーション部門講演会  2021.12 

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  • 関節に対する運動制限が手すりを用いた立ち上がり動作に与える影響の解析

    #木原 諒也, @Qi AN, @石黒 周, @滝田 謙介, @倉爪 亮

    計測自動制御学会 システム・情報部門 学術講演会  2021.11 

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  • Ladder Variational Autoencoderを用いた動的心臓形状の特徴量抽出

    TIAN Weiye, 宮内翔子, 倉爪亮, 諸岡健一

    計測自動制御学会九州支部学術講演会予稿集(CD-ROM)  2021.11 

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  • 力計測によるクライミングのダイノ動作の運動解析

    河村晃宏, 森永亘, 倉爪亮

    日本機械学会シンポジウム:スポーツ工学・ヒューマンダイナミクス講演論文集(CD-ROM)  2021.11 

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  • Dynamic Shape Feature Extraction for Heart using Ladder Variational Autoencoder

    TIAN Weiye, 宮内翔子, 倉爪亮, 諸岡健一

    計測自動制御学会九州支部学術講演会予稿集(CD-ROM)  2021.11 

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  • Motion Measurement System for Sport Climbing using Force Sensors

    河村晃宏, 森永亘, 倉爪亮

    日本機械学会シンポジウム:スポーツ工学・ヒューマンダイナミクス講演論文集(CD-ROM)  2021.11 

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  • 予測状態表現に基づく歩行者行動予測を用いた深層強化学習による移動ロボットナビゲーション

    #松本 耕平, @河村 晃宏, @安 琪, @倉爪 亮

    第39回日本ロボット学会学術講演会  2021.9 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:On-line   Country:Japan  

  • 多層3D LiDARとLSTMを用いた距離・点群密度変化に頑健な歩容認証

    #安 正鎬, @山田 弘幸, @中嶋 一斗, @倉爪 亮

    第39回日本ロボット学会学術講演会  2021.9 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:On-line   Country:Japan  

  • 医療・介護施設内見守りロボットQurianaの開発

    #井塚 智也, @河村 晃宏, @安 琪, @倉爪 亮

    第39回日本ロボット学会学術講演会  2021.9 

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  • ヒトの起立動作を支援する椅子の開発

    #黒田 大登, @安 琪, @山川 博司, @下田 真吾, @古川 淳一朗, @森本 淳, @中村 裕一, @倉爪 亮

    第39回日本ロボット学会学術講演会  2021.9 

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  • 拡張現実と分布型触覚センサを組み合わせた認知症ケア教育システムの開発

    @倉爪 亮, @Qi An

    第39回日本ロボット学会学術講演会  2021.9 

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  • ユマニチュードによる立ち上がり動作介助における介助者と被介助者の身体にかかる反力の解析

    #田中 彰人, @安 琪, @中嶋 一斗, @倉爪 亮

    第39回日本ロボット学会学術講演会  2021.9 

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  • 同一人物間の歩容特徴交換によるデータ拡張を用いた歩容認証

    #吉野 弘毅, @中嶋 一斗, @岩下 友美, @倉爪 亮

    第39回日本ロボット学会学術講演会  2021.9 

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    Venue:On-line   Country:Japan  

  • 極軽量インフレータブルロボットアームの関節剛性を考慮した手先位置制御

    #竹中 孝太, @河村 晃宏, @倉爪 亮

    第39回日本ロボット学会学術講演会  2021.9 

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  • ヒトの起立動作を支援する椅子の開発-ジップチェーンアクチュエータを用いた座面の移動機構-

    黒田大登, AN Qi, 山川博司, 下田真吾, 古川淳一朗, 森本淳, 森本淳, 中村裕一, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 起立動作中の縦手すりにかかる力を用いた運動機能の評価

    AN Qi, 山川博司, 湖上碩樹, 吉田和憲, WANG Ruoxi, 山下淳, 淺間一, YANG Ningjia, 横山萌香, 下田真吾, ALNAJJAR Fady, 山崎弘嗣, 石黒周, 服部憲明, 高橋幸治, 藤井崇典, 乙宗宏範, 宮井一郎, 倉爪亮

    LIFE講演概要集(CD-ROM)  2021.9 

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  • 極軽量インフレータブルロボットアームの関節剛性を考慮した手先位置制御

    竹中孝太, 河村晃宏, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 拡張現実と分布型触覚センサを組み合わせた認知症ケア教育システムの開発-第三次実証システムHEARTS3の開発-

    倉爪亮, AN Qi

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 多層3D LiDARとLSTMを用いた距離・点群密度変化に頑健な歩容認証-第2報 識別ネットワークの提案と評価実験-

    アン ジョンホ, 山田弘幸, 中嶋一斗, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 同一人物間の歩容特徴交換によるデータ拡張を用いた歩容認証 第2報 生成画像の品質評価実験

    吉野弘毅, 中嶋一斗, 岩下友美, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 医療・介護施設内見守りロボットQurianaの開発

    井塚智也, 河村晃宏, 安き, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 予測状態表現に基づく歩行者行動予測を用いた深層強化学習による移動ロボットナビゲーション

    松本耕平, 河村晃宏, 安き, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • ユマニチュードによる立ち上がり動作介助における介助者と被介助者の身体にかかる反力の解析

    田中彰人, AN Qi, 中嶋一斗, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • ヒトの起立動作を支援する椅子の開発-ジップチェーンアクチュエータを用いた座面の移動機構-

    黒田大登, AN Qi, 山川博司, 下田真吾, 古川淳一朗, 森本淳, 森本淳, 中村裕一, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 医療・介護施設内見守りロボットQurianaの開発

    井塚智也, 河村晃宏, 安き, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 予測状態表現に基づく歩行者行動予測を用いた深層強化学習による移動ロボットナビゲーション

    松本耕平, 河村晃宏, 安き, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • ユマニチュードによる立ち上がり動作介助における介助者と被介助者の身体にかかる反力の解析

    田中彰人, AN Qi, 中嶋一斗, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 同一人物間の歩容特徴交換によるデータ拡張を用いた歩容認証 第2報 生成画像の品質評価実験

    吉野弘毅, 中嶋一斗, 岩下友美, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • Evaluation of Motor Function by Force Applied to Vertical Handrail during Sit-to-Stand Motion

    AN Qi, 山川博司, 湖上碩樹, 吉田和憲, WANG Ruoxi, 山下淳, 淺間一, YANG Ningjia, 横山萌香, 下田真吾, ALNAJJAR Fady, 山崎弘嗣, 石黒周, 服部憲明, 高橋幸治, 藤井崇典, 乙宗宏範, 宮井一郎, 倉爪亮

    LIFE講演概要集(CD-ROM)  2021.9 

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  • 極軽量インフレータブルロボットアームの関節剛性を考慮した手先位置制御

    竹中孝太, 河村晃宏, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 拡張現実と分布型触覚センサを組み合わせた認知症ケア教育システムの開発-第三次実証システムHEARTS3の開発-

    倉爪亮, AN Qi

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 多層3D LiDARとLSTMを用いた距離・点群密度変化に頑健な歩容認証-第2報 識別ネットワークの提案と評価実験-

    アン ジョンホ, 山田弘幸, 中嶋一斗, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 確率的欠損表現を用いたLiDARデータの生成モデリング

    @中嶋 一斗, @倉爪 亮

    第24回 画像の認識・理解シンポジウム (MIRU2021)  2021.7 

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    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 理学療法士の介入技能をもとにした起立動作の支援機器の開発 -臀部押上げ機構の開発

    辛 治杭, 安 琪, 山川 博司, 下田 真吾, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2021  2021.6 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  • 拡張現実と分布型触覚センサを組み合わせた認知症ケア教育システムの開発 第二次試作システム HEARTS 2 の開発と評価実験

    倉爪 亮, Qi An

    日本機械学会ロボティクスメカトロニクス講演会2021  2021.6 

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    Venue:オンライン   Country:Japan  

  • 歪みゲージを用いたボルト型力覚センサの開発 第1報 キャリブレーションに関する基礎理論の構築

    段上 将門, 河村 晃宏, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2021  2021.6 

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  • 高精度 GNSS を用いた自律移動草刈りロボットの開発

    林 拓真, 大城 考弘, 渡邉 崇, 下窪 竜, 小玉 尚人, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2021  2021.6 

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    Venue:オンライン   Country:Japan  

  • 海洋破砕プラスチックごみ回収ロボットシステムの開発 レーザスキャナの反射輝度を用いた海岸環境の識別

    有瀬 昌矢, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2021  2021.6 

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    Venue:オンライン   Country:Japan  

  • Illusory Control: 人の意思と時間を錯覚により制御する遠隔操作手法

    青木 惇季, 山科 亮太, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2021  2021.6 

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    Venue:オンライン   Country:Japan  

  • 高精度GNSSを用いた自律移動草刈りロボットの開発

    林 拓真, 大城 孝弘, 渡邉 崇, 下窪 竜, 小玉 尚人, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2021.6 

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  • 理学療法士の介入技能をもとにした起立動作の支援機器の開発-臀部押上げ機構の開発-

    辛 治杭, Qi AN, 山川 博司, 下田 真吾, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2021.6 

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  • 海洋破砕プラスチックごみ回収ロボットシステムの開発—レーザスキャナの反射輝度を用いた海岸環境の識別

    有瀬 昌矢, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2021.6 

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  • 歪みゲージを用いたボルト型力覚センサの開発—~第1報 キャリブレーションに関する基礎理論の構築~

    段上 将門, 河村 晃宏, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2021.6 

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  • 拡張現実と分布型触覚センサを組み合わせた認知症ケア教育システムの開発―第二次試作システムHEARTS2の開発と評価実験―

    倉爪 亮, Qi AN

    ロボティクス・メカトロニクス講演会講演概要集  2021.6 

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  • Illusory Control:人の意思と時間を錯覚により制御する遠隔操作手法

    青木 惇季, 山科 亮太, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2021.6 

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  • A Deep Learning-Based Method for Predicting Volumes of Nasopharyngeal Carcinoma for Adaptive Radiation Therapy Treatment International conference

    25th International Conference on Pattern Recognition (ICPR2020)  2021.1 

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    Language:English   Presentation type:Oral presentation (general)  

    Country:Italy  

  • Development of Bolt Type Force Sensor using Strain Gauges-1st Report: Study of Calibration Method-

    段上将門, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2021 

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  • 情報構造化空間管理システム ROS2-TMS の開発

    ソン ミンス, 井塚 智也, 河村 晃宏, 倉爪 亮

    第21回計測自動制御学会システムインテグレーション部門講演会 SI2020  2020.12 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  • スポーツクライミングの動作・力情報可視化インターフェースの開発

    佐渡島 悠樹, 伊熊 瞳, 河村 晃宏, 倉爪 亮

    第21回計測自動制御学会システムインテグレーション部門講演会 SI2020  2020.12 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  • 三次元動作および力の同時計測によるクライミングの乗り込み動作の運動解析

    伊熊 瞳, 佐渡島 悠樹, 河村 晃宏, 倉爪 亮

    第21回計測自動制御学会システムインテグレーション部門講演会 SI2020  2020.12 

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    Venue:オンライン   Country:Japan  

  • クローラロボットを用いた屋外監視ロボットシステムの開発

    川﨑 修平, 松本 耕平, 河村 晃宏, 山科 亮太, 青木 惇季, 倉爪 亮

    第21回計測自動制御学会システムインテグレーション部門講演会 SI2020  2020.12 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  • 認知症介護動作中の触れるスキルの触覚グローブを用いた計測と評価

    井上 大路, An Qi, 宮内 翔子, 河村 晃宏, 倉爪 亮

    第21回計測自動制御学会システムインテグレーション部門講演会 SI2020  2020.12 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:オンライン   Country:Japan  

  • ユマニチュードの「触れる」スキルの定量化

    田中 彰人, An Qi, 宮内 翔子, 河村 晃宏, 倉爪 亮

    第21回計測自動制御学会システムインテグレーション部門講演会 SI2020  2020.12 

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    Venue:オンライン   Country:Japan  

  • 飛び移り座屈を利用した軽量ソフトグリッパの開発

    花守 拓樹, 河村 晃宏, 倉爪 亮

    第21回計測自動制御学会システムインテグレーション部門講演会 SI2020  2020.12 

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    Venue:オンライン   Country:Japan  

  • 情報構造化空間管理システムROS2-TMSの開発-ロボットコントローラモジュールと複数ロボットの協調動作-

    SONG Minsoo, 井塚智也, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020.12 

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  • 飛び移り座屈を利用した軽量ソフトグリッパの開発 第2報 アクチュエータ部の構造最適化

    花守拓樹, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020.12 

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  • Development of ROS2-TMS for informationally structured environment: Robot controller modules and cooperative motion of multiple robots

    SONG Minsoo, 井塚智也, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020.12 

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    researchmap

  • Development of a Lightweight Soft Gripper using Snap-Through-Buckling: Part 2: Structural Optimization of an Actuator Part

    花守拓樹, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2020.12 

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  • Virtual IR Sensing for Planetary Rovers: Improved Terrain Classification and Thermal Inertia Estimation International conference

    Yumi Iwashita, Kazuto Nakashima, Joseph Gatto, Shoya Higa, Norris Khoo, Ryo Kurazume, Adrian Stoica

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)  2020.10 

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    Event date: 2020.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  • Development of dementia care training system based on augmented reality and whole body wearable tactile sensor International conference

    Tomoki Hiramatsu, Masaya Kamei, Daiji Inoue, Akihiro Kawamura, An Qi, Ryo Kurazume

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)  2020.10 

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    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  • 予測状態表現に基づく深層強化学習を用いた動的環境下における移動ロボットナビゲーション

    松本耕平, 河村晃宏, 安き, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2020.10 

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    Language:Others   Presentation type:Oral presentation (general)  

    Country:Other  

  • 多層3D LiDARとLSTMを用いた距離・点群密度変化に頑健な歩容認証

    AHN Jeongho, 山田弘幸, 中嶋一斗, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2020.10 

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    Language:Others   Presentation type:Oral presentation (general)  

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  • 片麻痺患者の起立動作中の手すりにかかる力を用いた運動障害の度合の分類

    AN Qi, 山川博司, 湖上碩樹, 吉田和憲, 王若曦, 山下淳, 淺間一, 石黒周, 下田真吾, 楊濘嘉, 山崎弘嗣, 園尾萌香, ALNAJJAR Fady, 服部憲明, 高橋幸治, 藤井崇典, 乙宗宏範, 宮井一郎, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2020.10 

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  • LiDAR点群アップサンプリングのための欠損と反射率を考慮した深度マップ超解像

    Qiongyu Li, 中嶋 一斗, 倉爪 亮

    画像の認識理解シンポジウム (MIRU2020)  2020.8 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  • 同一人物間の歩容特徴交換によるデータ拡張を用いた歩容認証

    吉野 弘毅, 中嶋 一斗, 岩下 友美, 倉爪 亮

    画像の認識理解シンポジウム (MIRU2020)  2020.8 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Japan  

  • 拡張現実と分布型触覚センサを組み合わせた認知症ケア教育システムの開発 -シナリオに基づく訓練システムと実証試験-

    平松 知樹, 亀井 雅哉, 井上 大路, 林 拓真, 河村 晃宏, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2020  2020.5 

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    Event date: 2020.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:金沢   Country:Japan  

  • 飛び移り座屈を利用した軽量ソフトグリッパの開発 第1報 アクチュエータ部の試作

    花守拓樹, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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    Language:Japanese  

    Country:Other  

    <p>As an effective way to grasp an object softly and robustly, many soft grippers have been developed and reported. However, it is still difficult to grasp objects that are easily damaged by local contact forces such as fruits. This paper proposes a soft gripper which grasps such easily damaged objects by wrapping around. This approach gives a wide area of contact and reduces local contact forces. Moreover, this gripper is composed of only soft materials and integrally molded. The opening-closing mechanism is realized by using snap-through-buckling. In this paper, we show the design concept and the performance of the first prototype of the gripper.</p>

  • 拡張現実と分布型触覚センサを組み合わせた認知症ケア教育システムの開発 シナリオに基づく訓練システムと実証試験

    平松知樹, 亀井雅哉, 井上大路, 林拓真, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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    <p>This paper proposes a training system for a multimodal comprehensive care methodology for dementia patients named Humanitude. Humanitude has been attracting much attention as an effective care technique for dementia patients. Humanitude consists of four main techniques, namely, eye contact, verbal communication, touch, and standing up, and more than 150 care elements. Learning Humanitude thus requires much time. To train Humanitude effectively, we develop a training systemthat realizes sensing and interaction simultaneously by combining areal entity and augmented reality technology. To imitate the interaction between a patient and a caregiver, we superimpose a three-dimensional CG model of a patient's face onto the head of a soft doll using augmented reality technology. Touch information such as position and pressure is sensed using a whole body wearable tactile sensor. The effectiveness of the proposed training system is evaluated in public lectures.</p>

  • 情報構造化空間管理システムROS2-TMSの開発

    井塚智也, 林拓真, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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    <p>We focus on environmental informationally structuring that makes the environment around the robot intelligent, not just the robot itself. We have developed a software platform ROS-TMS to realize a service robot that coexists with humans in an informationally structured environment. ROS is currently being developed with a new ROS2 with significantly changed and improved communication functions and additional internal functions. Therefore, in this research, we develop ROS2-TMS, which adopts ROS2 for ROS-TMS. In this research, we first develop and port various modules, such as a control system for a communication robot. Furthermore, in the development of the voice user interface and task scheduler, not only robots, but also operation commands to various devices that work on the user, are managed. And a new cancellation function is added to stop running tasks, with the aim of improving service security.</p>

  • Smart Previewed Realityの開発-スマートフォンを用いた近未来可視化システム-

    林拓真, 井塚智也, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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    <p>In this research, we develop a near-future perception system named "Smart Previewed Reality" for humans and robots to coexist safely. This system consists of a smartphone and the management system of informationally structured environment "ROS-TMS". Informationally structured environment is so-called a smart environment, in which various sensors are placed in the space where the robot works, and the information of humans and objects and current and planned robot motion are stored structurally in a database. Therefore, by showing planned robot motion in the database by a smartphone beforehand (Previewed Reality), the user can perceive the near-future robot motion and avoid dangerous situation such as collisions. We develop smartphone applications for Previewed Reality including visualization of robot motion using AR, UI indicators of robot position, and push notification of dangerous situation.</p>

  • Smart Previewed Reality の開発 -スマートフォンを用いた近未来可視化システム-

    林 拓真, 井塚 智也, 河村 晃宏, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2020  2020.5 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:金沢   Country:Japan  

  • 情報構造化空間管理システム ROS2-TMS の開発

    井塚 智也, 林 拓真, 河村 晃宏, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2020  2020.5 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:金沢   Country:Japan  

  • 飛び移り座屈を利用した軽量ソフトグリッパの開発 -第1報 アクチュエータ部の試作-

    花守 拓樹, 河村 晃宏, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2020  2020.5 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:金沢   Country:Japan  

  • 第5世代移動通信システムを用いたテーマパークにおける案内・共体験ロボットシステムの開発

    松本耕平, 今井将人, 山田弘幸, 河村晃宏, 川内康裕, 中村珠幾, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

    <p>3D jobs (dangerous, dirty, demanding) are expected to be replaced by autonomous robots. At a theme park, surveillance, cleaning, and guiding tasks can be regarded as 3D jobs. This paper aims to develop an autonomous tour guide robot system and co-experience system at a large theme park. One of the characteristics of the tour guide robot we developed is the use of QZSS (quasi-zenith satellite system) and CLAS (centimeter-level augmentation service), which realizes the centimeter-level positioning for autonomous service robots. On the other hand, co-experience realizes the sharing of experience through the robot utilizing the 5th generation mobile communication system. Experimental results at the theme park showed that the tour-guide experiment was successfully carried out and the co-experience system can provide sharing of the experience of the robot to the user.</p>

  • 介護技術定量化のためのウェアラブル全身触覚センサの開発

    亀井雅哉, 平松知樹, 井上大路, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

    <p>In this study, we aim to quantify care skills in the dementia care technique called "Humanitude". Humanitude has been attracting much attention as a gentle and effective care technique for a dementia patient in recent years. The developed wearable whole body tactile sensor aims to quantify the "touch" skill among the four representative skills in Humanitude, which are gaze, touch, talk, and stand up. In addition, we conducted a demonstration experiment using a wearable whole body tactile sensor to quantify nursing care by general caregivers and a Humanitude expert.</p>

  • LSTM深層ネットワークを用いた3D LiDARによる人物識別

    山田弘幸, 山田弘幸, AHN Jeongho, MARTINEZ MOZOS Ocsar, 岩下友美, 倉爪亮

    ロボティクスシンポジア予稿集  2020.3 

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    Language:Others   Presentation type:Oral presentation (general)  

    Country:Other  

  • 1体の日本人脳を用いた脳の解剖学的地図「3次元脳図譜」の構築

    野田陽太, 諸岡健一, 宮城靖, 福田孝一, 宮内翔子, 倉爪亮

    電子情報通信学会技術研究報告  2020.1 

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  • A New 3D Motion and Force Measurement System for Sport Climbing International conference

    Hitomi Iguma, Akihiro Kawamura, Ryo Kurazume

    2020 IEEE/SICE International Symposium on System Integrations (SII)  2020.1 

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    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  • Quasi-Zenith Satellite System-based Tour Guide Robot at a Theme Park International conference

    Kohei Matsumoto, Hiroyuki Yamada, Masato Imai, Akihiro Kawamura, Yasuhiro Kawauchi, Tamaki Nakamura, Ryo Kurazume

    2020 IEEE/SICE International Symposium on System Integrations (SII)  2020.1 

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    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  • 移動支援のための自動走行パーソナルモビリティビークルの開発

    今井将人, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2019.12 

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    Country:Other  

  • レーザ反射画像を用いた機械学習による路面判別

    LEE Beomjoon, 中嶋一斗, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2019.12 

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  • 拮抗型インフレータブルアクチュエータの関節剛性を考慮した運動制御

    野間口直樹, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2019.12 

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  • スマートフォンによる情報構造化空間可視化システム

    林拓真, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2019.12 

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    Country:Other  

  • 多点接触を考慮したスポーツクライミングのための運動計測システムの開発

    伊熊瞳, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2019.12 

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    Language:Others   Presentation type:Oral presentation (general)  

    Country:Other  

  • 3D Image Reconstruction from Multi-focus Microscopic Images International conference

    Takahiro Yamaguchi, Hajime Nagahara, Ken'ichi Morooka, Yuta Nakashima, Yuki Uranishi, Shoko Miyauchi, Ryo Kurazume

    Pacific-Rim Symposium on Image and Video Technology, PSIVT, Deep Medical Imaging Workshop  2019.11 

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    Event date: 2019.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Australia  

  • GAN-based Method for Synthesizing Multi-Focus Cell Images International conference

    Ken'ich Morooka, Xueru Zhang, Shoko Miyauchi, Ryo Kurazume, Eiji Ohno

    Pacific-Rim Symposium on Image and Video Technology, PSIVT, Deep Medical Imaging Workshop  2019.11 

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    Event date: 2019.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Australia  

  • Tri-Scan強調画像を用いたU-Netによる膀胱鏡画像からの腫瘍検出

    楳原愛子, 諸岡健一, 牟田口淳, 小林聡, 宮内翔子, 倉爪亮, 江藤正俊

    日本コンピュータ外科学会誌  2019.11 

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  • Gaussian Process Dynamical Modelを用いた多元心臓統計的形状モデルの構築

    内林光優, 宮内翔子, 諸岡健一, DUAN Jinming, BAI Wenjia, RUECKERT Daniel, 倉爪亮

    電子情報通信学会技術研究報告  2019.11 

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    Language:Others   Presentation type:Oral presentation (general)  

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  • Gaussian Process Dynamical Modelを用いた多元心臓統計的計上モデルの構築

    内林 光優, 宮内 翔子, 諸岡 健一, Jinming Duan, Wenjia Bai, Daniel Rueckert, 倉爪 亮

    ヘルスケア・医療情報通信技術研究会/医用画像研究会,  2019.11 

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    Language:English   Presentation type:Oral presentation (general)  

    Venue:沖縄   Country:Japan  

  • スポーツクライミングのための運動計測システムの開発

    伊熊瞳, 河村晃宏, 倉爪亮

    日本機械学会シンポジウム:スポーツ工学・ヒューマンダイナミクス講演論文集(CD-ROM)  2019.10 

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    Event date: 2019.10

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

    <p>Sport climbing is one of the sports attracting attention all over the world and expected to become more popular. Therefore, motion measurement and analysis system have been required to improve the performance of players and instruct them. In several researches, the systems on motion measurement and analysis of climbing have been presented. Most of these systems consider only the movement of climbing, and take no thought of the force on holds. However, force information is indispensable to analyze the body motion of players deeply. This paper proposes a new 3D motion and force measurement system for sport climbing that can measure the movement and the force on holds simultaneously. Then, this proposed system enables us to measure and analyze climbing motions geometrically and dynamically. In order to verify the performance of the proposed system, we conducted the experiment in an actual climbing gym. In addition, we analyzed the center of mass of a player and the force on a hold by using the proposed system.</p>

  • Dose Distribution Prediction for Optimal Treamtment of Modern External Beam Radiation Therapy for Nasopharyngeal Carcinoma International conference

    Bilel Daoud, Ken'ichi Morooka, Shoko Miyauchi, Ryo Kurazume, Wafa Mnejja, Leila Farhat, Jamel Daoud

    Artificial Intelligence in Radiation Therapy Workshop at MICCAI  2019.10 

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    Event date: 2019.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  • 第四人称視点に基づく情報構造化空間の状況説明文生成

    中嶋 一斗, 倉爪 亮

    第37回日本ロボット学会学術講演会  2019.9 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京   Country:Japan  

  • 第四人称視点に基づく情報構造化空間の状況説明文生成 第2報 顕著領域クラスタリングによる視点間アテンションの統合

    中嶋一斗, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019.9 

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    Country:Other  

  • 「触る」の定量化とユマニチュード教育システム

    倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019.9 

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  • 環境情報構造化に基づくサービスロボットの実証的研究-九州大学におけるサービスロボットの研究-

    倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019.9 

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  • 「ロボットミドルウエアROSの普及への貢献」(日本機械学会教育賞受賞にあたって)

    倉爪 亮, 表 允晳, 渡邊 裕太

    日本機械学会誌  2019.8 

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    Language:Japanese  

    Country:Other  

  • 深層学習による3次元物体識別のための形状間の意味的対応に基づく3次元物体形状記述法

    宮内 翔子, 諸岡 健一, 倉爪 亮

    画像の認識理解シンポジウム (MIRU2019)  2019.7 

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    Event date: 2019.7 - 2019.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:大阪   Country:Japan  

  • 多重焦点顕微鏡画像列からの細胞の透過率分布推定

    山口 貴大, 長原 一, 諸岡 健一, 中島 悠太, 浦西 友樹, 宮内 翔子, 倉爪 亮, 大野 英治

    画像の認識理解シンポジウム (MIRU2019)  2019.7 

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    Event date: 2019.7 - 2019.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:大阪   Country:Japan  

  • MU-Net: Deep Learning-based Thermal IR Image Estimation from RGB Image International conference

    Yumi Iwashita, Kazuto Nakashima, Sir Rafol, Adrian Stoica, Ryo Kurazume

    the 15th IEEE Workshop on Perception Beyond the Visible Spectrum (PBVS)  2019.6 

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    Event date: 2019.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  • 拡張現実と分布型接触センサを組み合わせた認知症ケア教育システムの開発

    平松知樹, 井上大路, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

    <p>In this study, we aim to quantify care skills in the care technique called "Humanitude". Humanitude has been attracting much attention as a gentle and effective care technique for a dementia patient in recent years. The developed wearable tactile sensor aims to quantify the "touch" skill among the four representative skills in Humanitude, which are gaze, touch, talk, and stand up. In addition, we developed a learning system of Humanitude using AR technology and a real object, which realizes the interaction between a care-giver and a patient and enabled to quantify the "touch" and "gaze" skill.</p>

  • 距離データに対するNDTを用いた高速な差分検出手法の提案-屋内・屋外環境での差分検出精度の検証-

    桂右京, 松本耕平, 河村晃宏, 倉爪亮, 石上智英, 岡田典

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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    Event date: 2019.6

    Language:Others  

    Country:Other  

  • Previewed Reality2.0:近未来可視化システム-透過型ディスプレイHoloLensを用いたシステム構築と衝突回避実験-

    江頭飛鳥, 今井将人, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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    Event date: 2019.6

    Language:Japanese  

    Country:Other  

    <p>For safe human-robot coexistence, we have developed a near-future perception system named Previewed Reality. In this paper, we propose the latest system "Previewed Reality 2.0", which realizes a quasi-real-time processing. The system consists of an informationally structured environment (ISE), a Microsoft HoloLens, 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. Therefore, we can predict 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 virtual images are presented to the user by overlaid on a real scene using augmented reality technology. The proposed system allows a human to avoid collision with a robot by showing possible hazardous situations to the human intuitively in advance.</p>

  • 距離データに対するNDTを用いた高速な差分検出手法の提案 -屋内・屋外環境での差分検出精度の検証-

    桂 右京, 松本 耕平, 河村 晃宏, 倉爪 亮, 石上 智英, 岡田 典

    日本機械学会ロボティクスメカトロニクス講演会2019  2019.6 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島   Country:Japan  

  • Previewed Reality 2.0: 近未来可視化システム -透過型ディスプレイHoloLens を用いたシステム構築と衝突回避実験-

    江頭 飛鳥, 今井 将人, 河村 晃弘, 倉爪 亮

    日本機械学会ロボティクスメカトロニクス講演会2019  2019.6 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島   Country:Japan  

  • 準天頂衛星測位システムを用いたテーマパークにおける案内ロボットシステムの開発

    松本耕平, 今井将人, 山田弘幸, 河村晃宏, 川内康裕, 中村珠幾, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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    Event date: 2019.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

    <p>Over the past decades, 3D jobs (dangerous, dirty, demanding) are expected to be replaced by autonomous robots. At a theme park, surveillance, cleaning, and guiding tasks can be regarded as 3D jobs. This paper aims to develop an autonomous tour guide robot system at a large theme park. One of the characteristics of the tour guide robot we developed is the use of QZSS (quasi-zenith satellite system) and CLAS (centimeter level augmentation service), which realizes the centimeter-level positioning for autonomous service robots. We also implemented autonomous tour-guide system including path planning, collision avoidance, and voice explanation. Experimental results at the theme park showed that QZSS has sufficient localization accuracy for the tour-guide task, and the tour-guide experiment was successfully carried out.</p>

  • Spatial change detection using voxel classification by normal distributions transform International conference

    Ukyou Katsura, Kohei Matsumoto, Akihiro Kawamura, Tomohide Ishigami, Tsukasa Okada, Ryo Kurazume

    IEEE International Conference on Robotics and Automation 2019 (ICRA 2019)  2019.5 

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    Event date: 2019.5

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  • TU-Net and TDeepLab: Deep Learning-based Terrain Classification Robust to Illumination Changes, Combining Visible and Thermal Imagery International conference

    Yumi Iwashita, Kazuto Nakashima, Adrian Stoica, Ryo Kurazume

    Second IEEE International Conference on Multimedia Information Processing and Retrieval (MIPR 2019)  2019.3 

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    Event date: 2019.3

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  • Development of an Inflatable Robotic Arm on Mobile Platform for Fetch-and-Give Tasks International conference

    Ryosuke Tatara, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

    2019 IEEE/SICE International Symposium on System Integrations (SII)  2019.1 

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    Event date: 2019.1

    Language:English   Presentation type:Oral presentation (general)  

    Country:France  

  • Sensor terminal "Portable" for intelligent navigation of personal mobility robots in informationally structured environment International conference

    Hiroyuki Yamada, Tomoki Hiramatsu, Imai Masato, Akihiro Kawamura, Ryo Kurazume

    2019 IEEE/SICE International Symposium on System Integrations (SII)  2019.1 

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    Event date: 2019.1

    Language:English   Presentation type:Oral presentation (general)  

    Country:France  

  • Inflatable Robotic Arm with Overlaid Plastic Sheet Structure International conference

    Ryosuke Tatara, Kazuki Ebisu, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

    2019 IEEE/SICE International Symposium on System Integrations (SII)  2019.1 

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    Event date: 2019.1

    Language:English   Presentation type:Oral presentation (general)  

    Country:France  

  • 多重焦点顕微鏡画像列からの細胞の3次元形状復元

    山口貴大, 長原一, 諸岡健一, 中島悠太, 浦西友樹, 倉爪亮, 大野英治

    電子情報通信学会技術研究報告  2019.1 

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    Event date: 2019.1

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

  • Volumetric Brain Model Mapping for Constructing Volume Statistical Shape Model International conference

    2019 Joint International Workshop IWAIT-IFMIA  2019.1 

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    Event date: 2019.1 - 2021.1

    Language:English   Presentation type:Oral presentation (general)  

    Country:Singapore  

  • 階層型情報構造化環境プラットフォームの開発

    清山昂平, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018.12 

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    Event date: 2018.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

  • テーマパークにおける自律案内ロボットの開発

    松本耕平, 今井将人, 山田弘幸, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018.12 

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    Event date: 2018.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

  • 認知症患者ケアのためのウェアラブル触覚センサの開発

    平松 知樹, 井上 大路, 倉爪 亮

    電子情報通信学会HCGシンポジウム2018  2018.12 

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    Event date: 2018.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:伊勢   Country:Japan  

  • Development of AR care training system International conference

    Tomoki Hiramatsu, Akihiro Kawamura, Ryo Kurazume

    Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19)  2018.11 

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    Event date: 2018.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Dose Distribution Prediction Using Convolutional Neural Network International conference

    Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19)  2018.11 

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    Event date: 2018.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Multi-perspective Image Captioning for Human-Robot Symbiotic Scenes International conference

    Kazuto Nakashima, Ryo Kurazume

    Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19)  2018.11 

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    Event date: 2018.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • CNN based Beach Litter Classification using LiDAR International conference

    Beomjoon Lee, Kazuto Nakashima, Ryo Kurazume

    Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19)  2018.11 

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    Event date: 2018.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Analysis of Joint Stiffness in Motion Control of an Inflatable Robotic Arm International conference

    Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume

    Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19)  2018.11 

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    Event date: 2018.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Development of Automated Driving Personal Mobility Vehicle International conference

    Masato Imai, Kohei Matsumoto, Akihiro Kawamura, Ryo Kurazume

    Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19)  2018.11 

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    Event date: 2018.11

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • 深層学習と術具3次元形状モデルの組み合わせによるロボット支援内視鏡手術画像からの術具位置姿勢推定

    堤田有美, 諸岡健一, 小林聡, 宮内翔子, 江藤正俊, 倉爪亮

    日本コンピュータ外科学会誌  2018.11 

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    Event date: 2018.11

    Language:Japanese  

    Country:Other  

  • 3Dレーザースキャナによるリアルタイム遠方3Dトラッキングシステム(RobotEye RE05の新スキャン機能とリアルタイム3Dトラッキングのためのアルゴリズムの開発)

    高橋将史, 桑島茂純, 倉爪亮

    日本機械学会論文集(Web)  2018.10 

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    Event date: 2018.10

    Language:Others  

    Country:Other  

  • Inflatable Robotic Arm on a Mobile Platform for Home Service International conference

    Ryosuke Tatara, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume

    Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18)  2018.10 

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    Event date: 2018.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Development of Autonomous Tour-Guide Robot System in a Theme Park International conference

    Kohei Matsumoto, Masato Imai, Hiroyuki Yamada, Akihiro Kawamura, Ryo Kurazume

    Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18)  2018.10 

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    Event date: 2018.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • A CNN-based gait recognition robust to low resolution images using inter-image difference International conference

    Naoki Setoguchi, Kazuto Nakashima, Wu Tong, Yumi Iwashita, Ryo Kurazume

    Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18)  2018.10 

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    Event date: 2018.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • A Non-Rigid Registration Method for Construction of 3D Brain Atlas International conference

    Yota Noda, Ken'ichi Morooka, Shoko Miyauchi, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18)  2018.10 

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    Event date: 2018.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Describing Daily Events in Intelligent Space via Fourth-person Perspective Images International conference

    Kazuto Nakashima, Ryo Kurazume

    Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18)  2018.10 

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    Event date: 2018.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Angle- and Volume-Preserving Mapping of Organ Volume Model onto Target Volume International conference

    Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18)  2018.10 

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    Event date: 2018.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Fourth-person Captioning: Describing Daily Events by Uni-supervised and Tri-regularized Training International conference

    Kazuto Nakashima, Yumi Iwashita, Akihiro Kawamura, Ryo Kurazume

    The 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2018)  2018.10 

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    Event date: 2018.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • 距離データに対するNDTを用いた高速な差分検出手法の提案

    桂 右京, 倉爪 亮, 石上 智英, 岡田 典

    第36回日本ロボット学会学術講演会  2018.9 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋   Country:Japan  

  • 距離データに対するNDTを用いた高速な差分検出手法の提案-移動ロボットによる差分検出実験-

    桂右京, 倉爪亮, 石上智英, 岡田典

    日本ロボット学会学術講演会予稿集(CD-ROM)  2018.9 

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    Language:Japanese  

    Country:Other  

    <p>This research aims to develop a high-speed spatial change detection technique using point clouds and NDT (Normal Distributions Transform). 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. This paper describes the results of performance verification of spatial change detection in indoor and outdoor environments.</p>

  • Previewed Reality情報構造化空間における近未来可視化システム-透過型ディスプレイHoloLensを用いたシステム構築と実験-

    江頭飛鳥, 堀川雄太, 河村晃宏, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2018.9 

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    Event date: 2018.9

    Language:Japanese  

    Country:Other  

  • 生活支援サービスのための移動型インフレータブルロボットアームの開発

    多田羅僚介, 野間口直樹, 河村晃宏, 倉爪亮, 川村貞夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2018.9 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

  • 第四人称視点に基づく情報構造化空間の状況説明文生成

    中嶋一斗, 岩下友美, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2018.9 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

  • Previewed Reality情報構造化空間における近未来可視化システム

    江頭 飛鳥, 堀川 雄太, 河村 晃宏, 倉爪 亮

    第36回日本ロボット学会学術講演会  2018.9 

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    Event date: 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:名古屋   Country:Japan  

  • 優しい介護インタラクションの計算的・脳科学的解明

    中澤篤志, 倉爪亮, 本田美和子, 佐藤弥, 石川翔吾, 吉川佐紀子, 伊藤美緒

    情報処理学会研究報告(Web)  2018.8 

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    Event date: 2018.8 - 2018.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Country:Other  

  • 脳表・脳内部構造の輪郭データの統合による3次元脳図譜構築

    野田 陽太, 諸岡 健一, 宮内 翔子, 宮城 靖, 福田 孝一, 倉爪 亮

    第21回画像の認識・理解シンポジウム  2018.8 

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    Event date: 2018.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌   Country:Japan  

  • 異なる画像間差分を入力とするCNNを用いた低解像度画像に頑強な歩容認証

    瀬戸口 直輝, 中嶋 一斗, 呉 桐, 岩下 友美, 倉爪 亮

    第21回画像の認識・理解シンポジウム  2018.8 

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    Event date: 2018.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌   Country:Japan  

  • Virtual Sensors Determined through Machine Learning International conference

    Yumi Iwashita, Adrian Stoica, Kazuto Nakashima, Ryo Kurazume

    16th International Symposium on Robotics and Applications (ISORA 2018), World Automation Congress (WAC)  2018.6 

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    Event date: 2018.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  • Hexahedron Model Generation of Human Organ by Self-Organizing Deformable Model International conference

    Ken'ichi Morooka, Shoko Miyauchi, Xian Chen, Ryo Kurazume

    16th International Symposium on Robotics and Applications (ISORA 2018), World Automation Congress (WAC)  2018.6 

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    Event date: 2018.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  • 移動型インフレータブルロボットアームによるピックアンドプレイス作業の実現

    多田羅 僚介, 河村 晃宏, 倉爪 亮, 川村 貞夫

    日本機械学会ロボティクスメカトロニクス講演会2018  2018.6 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:北九州市   Country:Japan  

  • インフレータブルロボットアームによるピックアンドプレイス作業の実現

    多田羅僚介, 河村晃宏, 倉爪亮, 川村貞夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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    Language:Japanese  

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    <p>This paper presents an overview of pick and place operations performed by an inflatable robot. The inflatable robotic arm is composed of inflatable links and pneumatic bag actuators. This technology is expected to be applied to service robots working in human daily life, since the robotic arm has many advantages such as lightness, softness and safety. The pick and place tasks are realized by both pressure and visual feedback controls. The usefulness of the robot is demonstrated by several real world experiments.</p>

  • パーソナルモビリティのための情報構造化環境の構築とテーマパークでの誘導実験

    今井将人, 平松知樹, 山田弘幸, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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    Event date: 2018.6

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    <p>This paper proposes distributed sensor systems to construct an informationally structured environment by using LRFs (Laser Range Finders) and active beacons. With the proposed system, a personal mobility can localize its position and automatically move in indoor and outdoor environments. Experiments show that the personal mobility is guided appropriately in various environments, such as the campus of the university, the exhibition booth, and the theme park.</p>

  • 小型センサ端末によるパーソナルモビリティ・ビークルの誘導制御システムの開発

    平松知樹, 今井将人, 山田弘幸, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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    <p>In recent years, Personal Mobility Vehicle (PMV) have been attracting much attention as the new future vehicle. In this paper, we propose a new control system which provides automatic driving function or driving support function to PMVs using a small sensor terminal named "Portable". This system enables to add intelligent functions to various PMVs by attaching the Portable. In this paper we introduce two types of intelligent PMVs, standing type mobility and electric wheelchair, and show experimental results in indoor and outdoor environments including a theme park.</p>

  • 画像間差分とCNNを用いた低解像度画像による歩容認証

    瀬戸口直輝, 中嶋一斗, TONG Wu, 岩下友美, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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    Event date: 2018.6

    Language:Japanese   Presentation type:Oral presentation (general)  

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    <p>Gait-based person recognition has received an increasing amount of attentions for monitoring and surveillance applications. One of issues in gait recognition is that it is difficult to recognize people with high performance, in case that the resolution of captured images is too low. To deal with this problem, this paper presents SFDEINet, which uses Singed Frame Difference Energy Image (SFDEI) as input images. SFDEI has an advantage of explicit representation of motion of walking people, by changing the size of frame difference. To take the size of frame difference into account, SFDEINet is deigned to have convolution layers in parallel, followed by fusing outputs of each layer. We will show the SFDEINet is more suitable for SFDEI than GEINet in experiments.</p>

  • Efficient Geometrical Feature Preserving Mapping for Organ Surface Model International conference

    Shoko Miyauchi, Ken'ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    2018 IEEE International Symposium on Biomedical Imaging  2018.4 

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    Event date: 2018.4

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States  

  • 3Dレーザースキャナによるリアルタイム遠方3Dトラッキングシステム -RobotEye RE05の新スキャン機能とリアルタイム3Dトラッキングのためのアルゴリズムの開発-

    高橋 将史, 桑島 茂純, 倉爪 亮

    第23回ロボティクスシンポジア  2018.3 

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    Event date: 2018.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:焼津   Country:Japan  

  • 3Dレーザースキャナによるリアルタイム遠方3Dトラッキングシステム-RobotEye RE05の新スキャン機能とリアルタイム3Dトラッキングのためのアルゴリズムの開発-

    高橋将史, 桑島茂純, 倉爪亮

    ロボティクスシンポジア予稿集  2018.3 

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    Language:Others  

    Country:Other  

  • 認識・検出 人影に着目した個人認証手法の提案と開発

    岩下友美, 倉爪亮

    画像ラボ  2018.3 

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    Event date: 2018.3

    Language:Japanese  

    Country:Other  

  • 空気圧駆動インフレータブルアクチュエータの特性解析と数値シミュレーション

    野間口 直樹, 河村 晃宏, 江頭 飛鳥, Kurazume Ryo, 川村 貞夫

    第18回計測自動制御学会システムインテグレーション部門講演会 SI2017  2017.12 

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    Event date: 2017.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台   Country:Japan  

  • 情報構造化環境プラットフォームROS-TMS4.0,5.0

    倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017.12 

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    Event date: 2017.12

    Language:Others  

    Country:Other  

  • 情報構造化環境プラットフォームROS-TMS 4.0、5.0

    第18回計測自動制御学会システムインテグレーション部門講演会 SI2017  2017.12 

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    Event date: 2017.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台   Country:Japan  

  • 脊椎側彎症治療診断支援システムのための深層学習による脊椎変形・応力分布推定

    大山 紗貴子, 諸岡 健一, 小林 薫樹, 久保田 健介, 倉爪 亮

    第18回計測自動制御学会システムインテグレーション部門講演会 SI2017  2017.12 

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    Event date: 2017.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台   Country:Japan  

  • 呼び寄せコミュニケーションロボットを用いた見守りセンシング

    清山 昂平, 坂本 潤弥, 河村 晃宏, Kurazume Ryo

    第18回計測自動制御学会システムインテグレーション部門講演会 SI2017  2017.12 

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    Event date: 2017.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台   Country:Japan  

  • 1自由度旋回式カウンタウェイト駆動ロボットアームの運動制御

    石根 亮介, 河村 晃宏, Kurazume Ryo, 川村 貞夫

    第18回計測自動制御学会システムインテグレーション部門講演会 SI2017  2017.12 

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    Event date: 2017.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台   Country:Japan  

  • レーザ反射画像を用いた機械学習による路面判別

    南 承佑, 中嶋 一斗, Kurazume Ryo, 関口 正一

    第18回計測自動制御学会システムインテグレーション部門講演会 SI2017  2017.12 

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    Event date: 2017.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:仙台   Country:Japan  

  • Motion Control for Robotic Arm with Rotational Counterweights International conference

    Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume

    2017 IEEE/SICE International Symposium on System Integration (SII 2017)  2017.12 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Taiwan, Province of China  

  • Recognizing Outdoor Scenes by Convolutional Features of Omni-directional LiDAR Scans International conference

    Kazuto Nakashima, Seungwoo Nham, Hojung Jung, Yumi Iwashita, Ryo Kurazume, Oscar Mozos

    2017 IEEE/SICE International Symposium on System Integration (SII 2017)  2017.12 

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    Event date: 2017.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Taiwan, Province of China  

  • 光技術がもたらすロボット開発の可能性 走行・飛行型群ロボットによる大規模環境レーザ計測システム

    倉爪亮

    2017.12 

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    Event date: 2017.12

    Language:Japanese  

    Country:Other  

  • Motion Control for Robotic Arm with Rotational Counterweights International conference

    Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume

    The tenth Joint Workshop on Machine Perception and Robotics (MPR17)  2017.10 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  • Previewed Reality: Near-future perception system International conference

    Yuta Horikawa, Asuka Egashira, Kazuto Nakashima, Akihiro Kawamura, Ryo Kurazume

    The tenth Joint Workshop on Machine Perception and Robotics (MPR17)  2017.10 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  • Navigation system of personal mobility in informationally structured/unstructured environments International conference

    Yuuta Watanabe, Akio Shigekane, Kohei Matsumoto, Yongjin Jung, Kazuto Nakashima, Akihiro Kawamura, Ryo Kurazume

    The tenth Joint Workshop on Machine Perception and Robotics (MPR17)  2017.10 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  • Simulation Development for Inflatable Pneumatic Actuators International conference

    Akihiro Kawamura, Naoki Nomaguch, Asuka Egashira, Sadao Kawamura, Ryo Kurazume

    The tenth Joint Workshop on Machine Perception and Robotics (MPR17)  2017.10 

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    Event date: 2017.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:China  

  • modified Self-organizing Deformable Modelを用いた臓器表面モデルに対する幾何特徴量保存写像の高速化

    宮内翔子, 諸岡健一, 宮城靖, 福田孝一, 倉爪亮

    電子情報通信学会技術研究報告  2017.9 

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    Event date: 2017.9

    Language:Others  

    Country:Other  

  • Previewed Reality: Near-future perception system International conference

    Yuta Horikawa, Asuka Egashira, Kazuto Nakashima, Akihiro Kawamura, Ryo Kurazume

    2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)  2017.9 

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    Event date: 2017.9

    Language:English   Presentation type:Oral presentation (general)  

    Country:Canada  

  • マルチモーダル全方位画像の共起性と循環性を考慮した畳込み特徴学習による一般屋外環境識別

    中嶋 一斗, 河村 晃宏, Kurazume Ryo

    第35回日本ロボット学会学術講演会  2017.9 

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    Event date: 2017.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:埼玉   Country:Japan  

  • 介護施設向けロボットサービスプラットフォームROS-TMS5.0の開発

    坂本潤弥, 河村晃宏, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2017.9 

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    Event date: 2017.9

    Language:Others  

    Country:Other  

  • 介護施設向けロボットサービスプラットフォームROS-TMS 5.0の開発

    坂本 潤弥, 河村 晃宏, Kurazume Ryo

    第35回日本ロボット学会学術講演会  2017.9 

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    Event date: 2017.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:埼玉   Country:Japan  

  • 第四人称キャプショニング:相補性を有する分散視覚を用いたヒト-ロボット共生空間の状況記述

    中嶋 一斗, 岩下 友美, 河村 晃宏, Kurazume Ryo

    画像の認識理解シンポジウム (MIRU2017)  2017.8 

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    Event date: 2017.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島   Country:Japan  

  • 正負フレーム間差分を用いた深層学習による歩容認証

    呉 桐, 中嶋 一斗, 瀬戸口 直輝, 岩下 友美, Kurazume Ryo

    画像の認識理解シンポジウム (MIRU2017)  2017.8 

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    Event date: 2017.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:広島   Country:Japan  

  • Brain Atlas Construction by Non-Rigid Registration of Brain Block Models International conference

    Shoko Miyauchi, Ken'ichi Morooka, Sho Sasaki, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    CARS 2017 Computer Assisted Radiology and Surgery, 2017.6  2017.6 

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    Event date: 2017.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:Spain  

  • 情報構造化環境プラットフォームROS-TMSとBig Sensor Boxの提案

    倉爪亮, YOONSEOK Pyo, 辻徳生, 河村晃宏

    日本ロボット学会誌  2017.6 

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    Language:Japanese  

    Country:Other  

    This paper proposes new software and hardware platforms for an informationally structured environment named ROS-TMS and Big Sensor Box. We started the development of a management system for an informationally structured environment named TMS (Town Management System) in Robot Town Project in 2005. Since then we are continuing our efforts for the improvement of the performance and the enhancement of the functions of the TMS. Recently, we launched a new version of TMS named ROS-TMS, which resolves some critical problems in TMS by adopting ROS (Robot Operating System) and utilizing the high scalability and a plenty of resources of ROS. In this paper, we firstly discuss about the requirement and the structure of a software platform for an informationally structured environment, and describe in detail our latest system, ROS-TMS version 4.0. Next, we show the requirement of a hardware platform for an informationally structured environment, and introduce a hardware platform named Big Sensor Box, in which a variety of sensors are embedded and service robots are operated according to the structured information under the management of the ROS-TMS. Robot service experiments including a fetch-and-give task and autonomous control of a wheelchair robot are also conducted in Big Sensor Box.

  • Making gait recognition robust to speed changes using mutual subspace method International conference

    Yumi Iwashita, Mafune Kakeshita, Hiroshi Sakano, Ryo Kurazume

    IEEE International Conference on Robotics and Automation (ICRA2017)  2017.5 

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    Event date: 2017.5 - 2017.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:Singapore  

  • Feasibility study of IoRT platform "Big Sensor Box" International conference

    Ryo Kurazume, Yoonseok Pyo, Tokuo Tsuji, Akihiro Kawamura

    IEEE International Conference on Robotics and Automation (ICRA2017)  2017.5 

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    Event date: 2017.5 - 2017.6

    Language:English   Presentation type:Oral presentation (general)  

    Country:Singapore  

  • 環境埋込センサと計測ロボット群によるパーソナルモビリティの屋内外の誘導

    渡邊 裕太, 重兼 聡夫, 河村 晃宏, Kurazume Ryo

    日本機械学会ロボティクスメカトロニクス講演会  2017.5 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:福島   Country:Japan  

  • Previewed Reality情報構造化空間における近未来可視化システム-没入感ディスプレイを用いたシステム構築と実験-

    堀川雄太, 中嶋一斗, 河村晃宏, 倉爪亮

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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    Event date: 2017.5

    Language:Japanese  

    Country:Other  

    <p>In this paper, we present a near future perception system named "Previewed Reality". We integrate an immersive VR display, a stereo camera and a dynamic simulator into our informationally structured environment(ISE) platform for service robot. In ISE, a human wearing the immersive VR display can see the next possible events as virtual images overlaid on a real scene. We demonstrated that the proposed system can allow a human and a robot to coexist more safely.</p>

  • Previewed Reality 情報構造化空間における近未来可視化システム -没入感ディスプレイを用いたシステム構築と実験-

    堀川 雄太, 中嶋 一斗, 河村 晃宏, Kurazume Ryo

    日本機械学会ロボティクスメカトロニクス講演会  2017.5 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:福島   Country:Japan  

  • 距離データに対するNDTを用いた高速な差分検出手法の提案

    桂 右京, Kurazume Ryo, 石上 智英, 岡田 典

    日本機械学会ロボティクスメカトロニクス講演会  2017.5 

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    Event date: 2017.5

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:福島   Country:Japan  

  • 全周レーザスキャナを用いた屋外環境の種別推定 -幾何・画像特徴量とDeep Neural Network を用いた識別-

    中嶋 一斗, Oscar Martinez Mozos, Kurazume Ryo

    第22回ロボティクスシンポジア  2017.3 

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    Event date: 2017.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:群馬県安中市   Country:Japan  

  • 全周距離画像を入力とするConvolutional Neural Networkを用いた屋外環境の種別推定

    中嶋一斗, MOZOS Oscar Martinez, 倉爪亮

    ロボティクスシンポジア予稿集  2017.3 

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    Language:Others  

    Country:Other  

  • Deep neural networkによる軟性臓器の変形推定

    小林 薫樹, 諸岡 健一, 宮城 靖, 福田 孝一, 辻 徳生, Kurazume Ryo, 左村 和宏

    2017年 日本生体医工学会九州支部学術講演会  2017.3 

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    Event date: 2017.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:福岡   Country:Japan  

  • サービスロボットのためのIoTプラットフォーム

    倉爪亮

    日本ロボット学会誌  2017.2 

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    Event date: 2017.2

    Language:Japanese  

    Country:Other  

  • Simulation of Deforming Hunamn Tissue by Multiple Deep Neural Networks Kaoru Kobayashi, Ken'ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume, Kazuhiro Samura, , Jan., 2017 International conference

    Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume, Kazuhiro Samura

    International Forum on Medical Imaging in Asia 2017  2017.1 

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    Event date: 2017.1

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • 1自由度旋回式カウンタウェイト駆動ロボットアームの運動制御

    石根亮介, 河村晃宏, 倉爪亮, 川村貞夫

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017 

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  • レーザ反射画像を用いた機械学習による路面判別

    NHAM Seungwoo, 中嶋一斗, 倉爪亮, 関口正一

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017 

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  • マルチモーダル全方位画像の共起性と循環性を考慮した畳込み特徴学習による一般屋外環境識別

    中嶋一斗, 河村晃宏, 倉爪亮

    日本ロボット学会学術講演会予稿集(CD-ROM)  2017 

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  • 呼び寄せコミュニケーションロボットを用いた見守りセンシング

    清山昂平, 坂本潤弥, 河村晃宏, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017 

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  • High-speed spatial change detection using point clouds and NDT

    KATSURA Ukyou, KURAZUME Ryo, ISHIGAMI Tomohide, OKADA Tsukasa

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers

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    Event date: 2017

    Language:Japanese  

    <p>This research aims to develop a high-speed spatial change detection technique using point clouds and NDT (Normal Distribution Transformation). Point cloud obtained from a range sensor such as a RGB-D camera is transformed to voxel representation using NDT, and aligned and compared with map data measured by a high-precision laser scanner. 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.</p>

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  • 脊椎側彎症治療診断支援システムのための深層学習による脊椎変形・応力分布推定

    大山紗貴子, 諸岡健一, 小林薫樹, 久保田健介, 倉爪亮

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017 

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  • 空気圧駆動インフレータブルアクチュエータの特性解析と数値シミュレーション

    野間口直樹, 河村晃宏, 江頭飛鳥, 倉爪亮, 川村貞夫

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017 

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  • Navigation system of personal mobility using embedded sensors and mobile sensing robots

    WATANABE Yuuta, SHIGEKANE Akio, KAWAMURA Akihiro, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers

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    Event date: 2017

    Language:Japanese  

    <p>This paper proposes a navigation system of a personality mobility in informationally structured and unstructured environments. With the proposed system, a personal mobility can automatically move in an informationally structured environment where rich sensory information is obtained, a temporary informationally structured environment where a group of mobile sensing robots are deployed and develop a informationally structured environment temporary, and an informationally unstructured environment where no embedded sensors are installed. Experiments show that the personal mobility is guided appropriately from indoor to outdoor by changing the localization and navigation processes.</p>

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  • 構造化/非構造化環境を移動可能なパーソナルモビリティの開発

    重兼 聡夫, 渡邊 裕太, 河村 晃宏, Kurazume Ryo

    第17回計測自動制御学会システムインテグレーション部門講演会 SI2016  2016.12 

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    Event date: 2016.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌   Country:Japan  

  • ボトックス筋肉内注射ナビゲーションのための重畳表示システムの構築

    牛垣 雅人, 諸岡 健一, 宮城 靖, Kurazume Ryo

    第17回計測自動制御学会システムインテグレーション部門講演会 SI2016  2016.12 

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    Event date: 2016.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌   Country:Japan  

  • 空気圧駆動ロボットのためのインフレータブル構造膨張数値シミュレーション開発

    江頭 飛鳥, 河村 晃宏, 金 度演, 金 慧鍾, 川村 貞夫, Kurazume Ryo

    第17回計測自動制御学会システムインテグレーション部門講演会 SI2016  2016.12 

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    Event date: 2016.12

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌   Country:Japan  

  • 要介護者の見守りセンサターミナルの開発

    清山 昂平, 河村 晃宏, Kurazume Ryo

    第17回計測自動制御学会システムインテグレーション部門講演会 SI2016  2016.12 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:札幌   Country:Japan  

  • Automatic Houseware Registration System for Informationally-Structured Environment International conference

    Kazuto Nakashima, Girard Julien, Yumi Iwashita, Ryo Kurazume

    2016 IEEE/SICE International Symposium on System Integration (SII 2016)  2016.12 

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    Event date: 2016.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Angle- and Volume-Preserving Mapping of Organ Volume Model Based on modified Self-organizing Deformable Model International conference

    Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    23rd International Conference on Pattern Recognition (ICPR 2016), 2016.12  2016.12 

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    Event date: 2016.12

    Language:English   Presentation type:Oral presentation (general)  

    Country:Mexico  

  • 広域的エッジによる立体内視鏡画像からの実時間3次元形状復元

    堤田 有美, 諸岡 健一, Julius Imbery, 辻 徳生, Kurazume Ryo, 大内田 研宙, 橋爪 誠

    第25回コンピュータ外科学会大会  2016.11 

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    Event date: 2016.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京   Country:Japan  

  • 方向性を考慮した周辺分布による歩容認証

    掛下 真舟, Yumi Iwashita, 坂野 鋭, Ryo Kurazume

    第6回バイオメトリクスと認識・認証シンポジウム (SBRA2016)  2016.11 

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    Event date: 2016.11

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京   Country:Japan  

  • Gait Recognition using Convolutional Neural Networks International conference

    Tong Wu, Kazuto Nakashima, Yumi Iwashita, Ryo Kurazume

    The ninth Joint Workshop on Machine Perception and Robotics (MPR16)  2016.11 

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    Event date: 2016.11

    Language:English   Presentation type:Symposium, workshop panel (public)  

    Country:Japan  

  • A Method for Mapping Tissue Model Mapping onto Target Object International conference

    Shoko Miyauchi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    The ninth Joint Workshop on Machine Perception and Robotics (MPR16)  2016.11 

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    Event date: 2016.11

    Language:English   Presentation type:Symposium, workshop panel (public)  

    Country:Japan  

  • Estimation of Soft Tissue Deformation by Neural Network International conference

    Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume, Kazuhiro Samura

    The ninth Joint Workshop on Machine Perception and Robotics (MPR16)  2016.11 

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    Event date: 2016.11

    Language:English   Presentation type:Symposium, workshop panel (public)  

    Country:Japan  

  • Houseware Detection Using Wearable Camera International conference

    Kazuto Nakashima, Yumi Iwashita, Ryo Kurazume

    The ninth Joint Workshop on Machine Perception and Robotics (MPR16)  2016.11 

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    Event date: 2016.11

    Language:English   Presentation type:Symposium, workshop panel (public)  

    Country:Japan  

  • Real-time immersive VR system of pedestrian flow for large-scale environment International conference

    Seungwoo Nham, Akihiro Kawamura, Ryo Kurazume

    The ninth Joint Workshop on Machine Perception and Robotics (MPR16)  2016.11 

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    Event date: 2016.11

    Language:English   Presentation type:Symposium, workshop panel (public)  

    Country:Japan  

  • Object tracking system by integrating multi-sensored data International conference

    The 42nd Annual Conference of IEEE Industrial Electronics Society (IECON 2016)  2016.10 

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    Event date: 2016.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Italy  

  • Volume Representation of Parenchymatous Organs by Volumetric Self-organizing Deformable Model International conference

    Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    MICCAI 2016 Workshop on Spectral and Shape Analysis in Medical Imaging  2016.10 

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    Event date: 2016.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Greece  

  • A Method for Estimating Tissue Deformation by Deep Neural Network International conference

    Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume

    Asian Conference on Computer Aided Surgery (ACCAS 2016),  2016.10 

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    Event date: 2016.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Japan  

  • Multi-modal Panoramic 3D Outdoor Datasets for Place Categorization International conference

    Hojung Jung, Yuki Oto, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume

    2016 IEEE/RSJ International Conference on Intelligent Robots and Systems  2016.10 

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    Event date: 2016.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Korea, Republic of  

  • Stable aerial image registration for people detection from a low-altitude aerial vehicle International conference

    Yumi Iwashita, Yuki Takefuji, Ryo Kurazume

    2016 IEEE International Conference on Systems, Man, and Cybernetics  2016.10 

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    Event date: 2016.10

    Language:English   Presentation type:Oral presentation (general)  

    Country:Hungary  

  • サービスロボットシステムにおけるIOT事例 Invited

    2016年度日本機械学会年次大会  2016.9 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:福岡   Country:Japan  

  • 環境情報構造化アーキテクチャROS-TMS4.0を用いたロボットサービスの実現

    坂本潤弥, 渡邊 裕太, 河村 晃宏, Kurazume Ryo

    2016年度日本機械学会年次大会  2016.9 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:福岡   Country:Japan  

  • 複数の遠赤外線画像を用いた全周の接触領域検出と把持形態推定への応用

    稲田 大亮, 辻 徳生, 諸岡 健一, Kenji Tahara, 河村 晃宏, Kurazume Ryo, 原田 研介

    第34回日本ロボット学会学術講演会  2016.9 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:山形   Country:Japan  

  • 情報構造化空間を拡張する群ロボットシステムの開発

    渡邊 裕太, 重兼 聡夫, 河村 晃宏, Kurazume Ryo

    第34回日本ロボット学会学術講演会  2016.9 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:山形   Country:Japan  

  • 統計的形状モデルを用いた古人骨の骨盤形状復元

    諸岡 健一, 松原 良太, 宮内 翔子, 福田 孝一, 杉井 健, Kurazume Ryo

    第15回情報科学技術フォーラム  2016.9 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:富山   Country:Japan  

  • 広域環境における人流データのリアルタイム没入感可視化システム

    南 承佑, 河村 晃宏, Kurazume Ryo

    第34回日本ロボット学会学術講演会  2016.9 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:山形   Country:Japan  

  • Previewed Reality 情報構造化空間における近未来可視化システム

    堀川 雄太, 河村 晃宏, Kurazume Ryo

    第34回日本ロボット学会学術講演会  2016.9 

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    Event date: 2016.9

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:山形   Country:Japan  

  • 広域センシングに基づく異常人流検出の実証実験報告

    内田 誠一, Markus Goldstein, 亀津 達也, 髙野 茂, 後藤 孝行, 堀 磨伊也, 辻 徳生, Ryo Kurazume, 谷口 倫一郎

    画像の認識理解シンポジウム (MIRU2016)  2016.8 

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    Event date: 2016.8

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:静岡県浜松市   Country:Japan  

  • 内部組織を有する臓器ボリュームモデルの目標体への写像

    宮内 翔子, 諸岡 健一, 辻 徳生, 宮城 靖, 福田 孝一, Kurazume Ryo

    電子情報通信学会 医用画像研究会  2016.7 

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    Event date: 2016.7

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:苫小牧   Country:Japan  

  • 相互部分空間法による歩行速度の変化に頑強な個人認証

    掛下 真舟, 岩下 友美, 坂野 鋭, Kurazume Ryo

    日本機械学会ロボティクスメカトロニクス講演会  2016.6 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:横浜   Country:Japan  

  • 大規模環境に対する 3 次元レーザ計測の効率化の検討

    南 承佑, Kurazume Ryo, 岩下 友美, Hojung Jung

    日本機械学会ロボティクスメカトロニクス講演会  2016.6 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:横浜   Country:Japan  

  • 情報構造化環境におけるスマートグラスと Faster R-CNN を用いた日常物品登録システムの開発

    中嶋 一斗, 岩下 友美, 高嶺 朝理, Kurazume Ryo

    日本機械学会ロボティクスメカトロニクス講演会  2016.6 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:横浜   Country:Japan  

  • リアルタイム全方向レーザスキャナを用いた屋外環境の種別推定

    大音 雄輝, 鄭 好政, 河村 晃宏, 岩下 友美, Kurazume Ryo

    日本機械学会ロボティクスメカトロニクス講演会  2016.6 

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    Event date: 2016.6

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:横浜   Country:Japan  

  • ROS-TMS ver.4.0 -情報構造化環境のためのオペレーティングシステム-

    ピョ ユンソク, 渡邊 裕太, 重兼 聡夫, 稲田 大亮, Tokuo Tsuji, 河村 晃宏, Ryo Kurazume

    第21回ロボティクスシンポジア  2016.3 

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    Event date: 2016.3

    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:長崎   Country:Japan  

  • A method for mapping tissue volume model onto target volume using volumetric self-organizing deformable model International conference

    Shoko Miyauchi, KEN'ICHI MOROOKA, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume

    Proc. SPIE, 9784, Medical Imaging 2016: Image Processing  2016.2 

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    Event date: 2016.2 - 2016.3

    Language:English   Presentation type:Oral presentation (general)  

    Country:United States