| 1. |
Development of Garbage Collecting Robot for Marine Microplastics.
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.. |
| 2. |
Construction of An Image Conversion Model to Generate 3D Organ Model Images from Robot-assisted Surgery Endoscopic Images. |
| 3. |
Development for an autonomous iluminance measurement robot using swarm robotics. |
| 4. |
Human Pose Estimation Using RGBD Images-Improvement of acuuracy by ICP algorithm-
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.. |
| 5. |
Mobile Robot Navigation in Dynamic Environments by Offline Reinforcement Learning using Flow-Based Generative Model
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.. |
| 6. |
Teleoperation Method by Illusion of Human Intention and Time-Verification of applicability to unknown environments using Neural Radiance Fields-
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.. |
| 7. |
Development of Outdoor Surveillance Mobile Robot System
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.. |
| 8. |
ROS2-TMS for Construction: CPS platform for earthwork sites
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.. |
| 9. |
Development of stimulation device of foot sole imitating intervention skills of physical therapist-Verification of effects on healthy children-
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.. |
| 10. |
Development of a multi-robot system for illuminance measurement
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%.. |
| 11. |
Development of Autonomous Mobile Mowing Robot Using High-Precision GNSS-3rd Report: Localization with QZSS and Visual SLAM Camera, and Path Following Experiments-. |
| 12. |
Development of Autonomous Driving Technology Spreading to Small Agricultural Machinery. |
| 13. |
Development of Distributed Sensor Pods for Evaluation of Ground Stiffness and Safety Management at Civil Engineering Fields. |
| 14. |
Stiffness Ellipsoid Control of a 4-DoF Inflatable Robotic Arm. |
| 15. |
Development of Outdoor Surveillance Robot System using Crawlers-Remote Surveillance and Control using Public 5G-. |
| 16. |
Research on the strategy of designing information presentation for changing people’s behavior naturally.. |
| 17. |
Bolt Type Force Sensor using Strain Gauges for Sport Climbing-Verification by Measurement of Climbing Movement-. |
| 18. |
Development of Garbage Collecting Robot for Marine Microplastics-Detection of Microplastics using Laser Reflectance and Robot Navigation-. |
| 19. |
Masaki Kobayashi, Miyuki Iwamoto, Saki Une, Ryo Kurazume, Atsushi Nakazawa, Miwako Honda, THE EFFECT OF COMMUNICATION SKILLS TRAINING FOR NURSING STUDENTS BY AUGMENTED REALITY SIMULATION SYSTEM, INNOVATION IN AGING, 2022.11. |
| 20. |
Analysis of physical therapists’intervention for infants and evaluation of effects on plantar pressure and muscle activity during standing posture. |
| 21. |
A Method for Evaluating Ground Stiffness Based on Waveform Distortion of Multipoint Synchronous Vibration Data. |
| 22. |
Yamato Kuroda, Qi An, Hiroshi Yamakawa, Shingo Shimoda, Jun-ichiro Furukawa, Jun Morimoto, Yuichi Nakamura, Ryo Kurazume, Development of a Chair to Support Human Standing Motion -Seat movement mechanism using zip chain actuator-, 2022 IEEE/SICE International Symposium on System Integration (SII), 2022.01. |
| 23. |
Jeongho Ahn, Kazuto Nakashima, Koki Yoshino, Yumi Iwashita, Ryo Kurazume, 2V-Gait: Gait Recognition using 3D LiDAR Robust to Changes in Walking Direction and Measurement Distance, 2022 IEEE/SICE International Symposium on System Integration (SII), 2022.01. |
| 24. |
Koki Yoshino, Kazuto Nakashima, Jeongho Ahn, Yumi Iwashita, Ryo Kurazume, Gait Recognition using Identity-Aware Adversarial Data Augmentation, 2022 IEEE/SICE International Symposium on System Integration (SII), 2022.01. |
| 25. |
Kohei Matsumoto, Akihiro Kawamura, Qi An, Ryo Kurazume, Mobile Robot Navigation using Learning-based Method based on Predictive State Representation in a Dynamic Environment, 2022 IEEE/SICE International Symposium on System Integration (SII), 2022.01. |
| 26. |
Hiroki Hanamori, Akihiro Kawamura, Ryo Kurazume, Soft Gripper Using 3D Snap-Through Buckling for Perishable Fresh Fruits Handling, 27th International Symposium on Artificial Life and Robotics (AROB 27th 2022), 2022.01. |
| 27. |
Preface to Special Issue on the 21st SICE System Integration Division Annual Conference. |
| 28. |
Dynamic Shape Feature Extraction for Heart using Ladder Variational Autoencoder. |
| 29. |
Motion Measurement System for Sport Climbing using Force Sensors. |
| 30. |
Evaluation of Motor Function by Force Applied to Vertical Handrail during Sit-to-Stand Motion. |
| 31. |
A Teleoperation method using the illusion of human intention and time
Shared control, in which teleoperation and autonomous control are mixed to move the robot, is expected to improve the efficiency of the user's teleoperation operation. However, there is a problem that the user's acceptability decreases due to the conflict of intention between teleoperation and autonomous control. In this paper, we address this problem by providing an illusion to humans. We proposed a teleoperation method called "Illusory Control" that can achieve both mobility efficiency and user acceptance by implementing a cyber-physical system that controls a robot in a real space through robot operations in a virtual space. Illusory Control has two functions: one is "Illusion of Intension", which gives the illusion that the robot is operating according to human intention, and the other is "Illusion of Time", which gives the illusion of time to fill the gap by changing human behavior when the positions of the robot in the virtual space and the robot in the real space diverge.. |
| 32. |
Development of dementia care training system combining augmented reality and distributed tactile sensor-HumanitudE AR Training System (HEARTS 2) and psychological experiments-
This study develops a training system for a multimodal comprehensive care methodology for dementia patients called Humanitude. Humanitude has attracted much attention as a gentle and effective care technique. It consists of four main techniques, including eye contact, verbal communication, touch, and standing, with more than 150 care elements. Learning to practice Humanitude thus requires considerable time. To provide an effective training system for Humanitude, we develop a HumanitudE AR Training System (HEARTS) realizing simultaneous sensing and interaction by combining a real training entity and augmented reality technology. This paper presents a new version of HEARTS named HEARTS 2 consisting of HoloLens 2, a soft doll, and a full-body wearable tactile sensor.. |
| 33. |
Development of Bolt Type Force Sensor using Strain Gauges- 1st Report : Study of Calibration Method -
This paper proposes a new bolt type force sensor that measures forces applied to an object fixed by the sensor. This sensor consists of a general metal bolt and four strain gauges. Due to the feature of the bolt type sensor, it can measure the force applied to the object without extra jigs and gaps. In this report, the structure of the sensor is introduced and its calibration strategy is discussed. Finally, a force measurement experiment is conducted.. |
| 34. |
Development of Garbage Collecting Robot for Marine Microplastics-Detection of Microplastics using Laser Reflectance-
In this research, we develop a garbage collecting robot for marine microplastics. This system uses 3D LiDAR to detect microplastics on a beach and collects them by avoiding obstacles and sea automatically. This paper describes the results of detection experiments of microplastics using reflectance information taken by 3D LiDAR.. |
| 35. |
Assistive Chair of Human Sit-to-stand based on Intervention Skill of Physical Therapist-Development of Buttock Push-up Mechanism-
Patients with stroke may have hemiplegia, which reduces their ability to perform activities of daily living and reduces their quality of life compared to before the onset. To improve motor function of them, it is important to develop an assistive device that support rehabilitation as physical therapists do in clinical environment. Here, we developed a chair-type rehabilitation device that emulates intervention of physical therapist. The devices estimate movement of the user through pressure sensor and stimulate buttocks of the user. We firstly clarified the relationship between center of pressure of the seat and pinching force by physical therapists. This is implemented on the assistive device and the measurement experiment was performed. The results showed that the assistive device could successfully stimulated the user’s buttocks. Future work will be implementation of other intervention method of physical therapists.. |
| 36. |
Development of Autonomous Mobile Mowing Robot Using High-Precision GNSS
In this research, we develop an autonomous mowing robot in orchards using high-precision GNSS and a ROS architecture. The robot is equipped with two crawlers, a GNSS module and an antenna, and a 3D-LiDAR. As a high-precision GNSS, Network-RTK-GNSS and CLAS by Quasi-Zenith Satellite System, Michibiki, can be chosen depending on the situation. We investigate the positioning performance of Network-RTK-GNSS in some orchards including outdoor plantations and plastic greenhouses. Some demonstrations in outdoor environments including fallow fields were conducted by the developed autonomous mowing robot.. |
| 37. |
Bilel Daoud, Ken’ichi Morooka, Shoko Miyauchi, Ryo Kurazume, Wafa Mnejja, Leila Farhat, Jamel Daoud, A Deep Learning-Based Method for Predicting Volumes of Nasopharyngeal Carcinoma for Adaptive Radiation Therapy Treatment, 25th International Conference on Pattern Recognition (ICPR2020), 2021.01. |
| 38. |
Development of ROS2-TMS for informationally structured environment: Robot controller modules and cooperative motion of multiple robots. |
| 39. |
Development of a Lightweight Soft Gripper using Snap-Through-Buckling: Part 2: Structural Optimization of an Actuator Part. |
| 40. |
Yumi Iwashita, Kazuto Nakashima, Joseph Gatto, Shoya Higa, Norris Khoo, Ryo Kurazume, Adrian Stoica, Virtual IR Sensing for Planetary Rovers: Improved Terrain Classification and Thermal Inertia Estimation, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), 2020.10. |
| 41. |
Tomoki Hiramatsu, Masaya Kamei, Daiji Inoue, Akihiro Kawamura, An Qi, Ryo Kurazume, Development of dementia care training system based on augmented reality and whole body wearable tactile sensor, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), 2020.10. |
| 42. |
Development of wearable whole body tactile sensor for nursing care quantification
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. . |
| 43. |
Development of Tour-Guide and Co-Experience Robot System at a Theme Park using 5th Generation Mobile Communication System
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. . |
| 44. |
Development of Smart Previewed Reality-Near Future Perception System using Smartphone-
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. . |
| 45. |
Development of ROS2-TMS: New Platform for Informationally Structured Environment
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. . |
| 46. |
Development of dementia care training system combining augmented reality and distributed tactile sensor: Scenario-based training system and demonstration
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. . |
| 47. |
Development of a Lightweight Soft Gripper using Snap-Through-Buckling: 1st Report Prototype of Actuator Part
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. . |
| 48. |
People Identification using 3D LiDAR and Long Short-Term Memory Deep Networks. |
| 49. |
Hitomi Iguma, Akihiro Kawamura, Ryo Kurazume, A New 3D Motion and Force Measurement System for Sport Climbing, 2020 IEEE/SICE International Symposium on System Integrations (SII), 2020.01. |
| 50. |
Kohei Matsumoto, Hiroyuki Yamada, Masato Imai, Akihiro Kawamura, Yasuhiro Kawauchi, Tamaki Nakamura, Ryo Kurazume, Quasi-Zenith Satellite System-based Tour Guide Robot at a Theme Park, 2020 IEEE/SICE International Symposium on System Integrations (SII), 2020.01. |
| 51. |
3D Brain Atlas Construction from Single Japanese Cadaver Brain. |
| 52. |
Takahiro Yamaguchi, Hajime Nagahara, Ken'ichi Morooka, Yuta Nakashima, Yuki Uranishi, Shoko Miyauchi, Ryo Kurazume, 3D Image Reconstruction from Multi-focus Microscopic Images, Pacific-Rim Symposium on Image and Video Technology, PSIVT, Deep Medical Imaging Workshop, 2019.11. |
| 53. |
Ken'ich Morooka, Xueru Zhang, Shoko Miyauchi, Ryo Kurazume, Eiji Ohno, GAN-based Method for Synthesizing Multi-Focus Cell Images, Pacific-Rim Symposium on Image and Video Technology, PSIVT, Deep Medical Imaging Workshop, 2019.11. |
| 54. |
内林 光優, 宮内 翔子, 諸岡 健一, Jinming Duan, Wenjia Bai, Daniel Rueckert, 倉爪 亮, Gaussian Process Dynamical Modelを用いた多元心臓統計的計上モデルの構築, 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. |
| 55. |
Development of 3D motion measurement system for sport climbing
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. . |
| 56. |
Bilel Daoud, Ken'ichi Morooka, Shoko Miyauchi, Ryo Kurazume, Wafa Mnejja, Leila Farhat, Jamel Daoud, Dose Distribution Prediction for Optimal Treamtment of Modern External Beam Radiation Therapy for Nasopharyngeal Carcinoma, Artificial Intelligence in Radiation Therapy Workshop at MICCAI, 2019.10. |
| 57. |
Yumi Iwashita, Kazuto Nakashima, Sir Rafol, Adrian Stoica, Ryo Kurazume, MU-Net: Deep Learning-based Thermal IR Image Estimation from RGB Image, the 15th IEEE Workshop on Perception Beyond the Visible Spectrum (PBVS), 2019.06. |
| 58. |
Development of dementia care education system combining augmented reality and distributed tactile sensor
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. . |
| 59. |
Development of Tour-Guide Robot System at Theme Park using Quasi-Zenith Satellite System
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. . |
| 60. |
Previewed Reality 2.0: Near-future perception system:-Building system and experiment of collision avoidance with transmission type display-
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. . |
| 61. |
Ukyou Katsura, Kohei Matsumoto, Akihiro Kawamura, Tomohide Ishigami, Tsukasa Okada, Ryo Kurazume, Spatial change detection using voxel classification by normal distributions transform, IEEE International Conference on Robotics and Automation 2019 (ICRA 2019), 2019.05. |
| 62. |
Yumi Iwashita, Kazuto Nakashima, Adrian Stoica, Ryo Kurazume, TU-Net and TDeepLab: Deep Learning-based Terrain Classification Robust to Illumination Changes, Combining Visible and Thermal Imagery, Second IEEE International Conference on Multimedia Information Processing and Retrieval (MIPR 2019), 2019.03. |
| 63. |
Ryosuke Tatara, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura, Development of an Inflatable Robotic Arm on Mobile Platform for Fetch-and-Give Tasks, 2019 IEEE/SICE International Symposium on System Integrations (SII), 2019.01. |
| 64. |
Ryosuke Tatara, Kazuki Ebisu, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura, Inflatable Robotic Arm with Overlaid Plastic Sheet Structure, 2019 IEEE/SICE International Symposium on System Integrations (SII), 2019.01. |
| 65. |
Hiroyuki Yamada, Tomoki Hiramatsu, Imai Masato, Akihiro Kawamura, Ryo Kurazume, Sensor terminal "Portable" for intelligent navigation of personal mobility robots in informationally structured environment, 2019 IEEE/SICE International Symposium on System Integrations (SII), 2019.01. |
| 66. |
3D Cell Shape Reconstruction From Multifocal Microscope Image Sequence. |
| 67. |
Shoko Miyauchi, Ken’ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Volumetric Brain Model Mapping for Constructing Volume Statistical Shape Model, 2019 Joint International Workshop IWAIT-IFMIA, 2019.01. |
| 68. |
階層型情報構造化環境プラットフォームの開発. |
| 69. |
テーマパークにおける自律案内ロボットの開発. |
| 70. |
Tomoki Hiramatsu, Akihiro Kawamura, Ryo Kurazume, Development of AR care training system, Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19), 2018.11. |
| 71. |
Masato Imai, Kohei Matsumoto, Akihiro Kawamura, Ryo Kurazume, Development of Automated Driving Personal Mobility Vehicle, Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19), 2018.11. |
| 72. |
Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Analysis of Joint Stiffness in Motion Control of an Inflatable Robotic Arm, Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19), 2018.11. |
| 73. |
Beomjoon Lee, Kazuto Nakashima, Ryo Kurazume, CNN based Beach Litter Classification using LiDAR, Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19), 2018.11. |
| 74. |
Kazuto Nakashima, Ryo Kurazume, Multi-perspective Image Captioning for Human-Robot Symbiotic Scenes, Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19), 2018.11. |
| 75. |
Bilel Daoud, Ken’ichi Morooka, Shoko Miyauchi, Ryo Kurazume, Wafa Mnejja, Leila Farhat, Jamel Daoud, Dose Distribution Prediction Using Convolutional Neural Network, Proc. The 15th Joint Workshop on Machine Perception and Robotics (MPR19), 2018.11. |
| 76. |
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. |
| 77. |
Kazuto Nakashima, Yumi Iwashita, Akihiro Kawamura, Ryo Kurazume, Fourth-person Captioning: Describing Daily Events by Uni-supervised and Tri-regularized Training, The 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2018), 2018.10. |
| 78. |
Ryosuke Tatara, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Inflatable Robotic Arm on a Mobile Platform for Home Service, Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18), 2018.10. |
| 79. |
Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Angle- and Volume-Preserving Mapping of Organ Volume Model onto Target Volume, Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18), 2018.10. |
| 80. |
Kazuto Nakashima, Ryo Kurazume, Describing Daily Events in Intelligent Space via Fourth-person Perspective Images, Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18), 2018.10. |
| 81. |
Yota Noda, Ken'ichi Morooka, Shoko Miyauchi, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, A Non-Rigid Registration Method for Construction of 3D Brain Atlas, Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18), 2018.10. |
| 82. |
Naoki Setoguchi, Kazuto Nakashima, Wu Tong, Yumi Iwashita, Ryo Kurazume, A CNN-based gait recognition robust to low resolution images using inter-image difference, Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18), 2018.10. |
| 83. |
Kohei Matsumoto, Masato Imai, Hiroyuki Yamada, Akihiro Kawamura, Ryo Kurazume, Development of Autonomous Tour-Guide Robot System in a Theme Park, Proc. The 14th Joint Workshop on Machine Perception and Robotics (MPR18), 2018.10. |
| 84. |
Real-time distant 3D tracking by 3D laser scanner (Developments of new scan function for RobotEye RE05 and algorithms for real-time 3D tracking). |
| 85. |
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. |
| 86. |
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. |
| 87. |
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―. |
| 88. |
High-speed spatial change detection using point clouds and NDT:-Performance verification of spatial change detection in indoor and outdoor environments-
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. . |
| 89. |
Computational Tender-Care Science: Computational and Cognitive Neuroscientific Approaches for Understanding the Tender Care. |
| 90. |
Yumi Iwashita, Adrian Stoica, Kazuto Nakashima, Ryo Kurazume, Virtual Sensors Determined through Machine Learning, 16th International Symposium on Robotics and Applications (ISORA 2018), World Automation Congress (WAC), 2018.06. |
| 91. |
Ken'ichi Morooka, Shoko Miyauchi, Xian Chen, Ryo Kurazume, Hexahedron Model Generation of Human Organ by Self-Organizing Deformable Model, 16th International Symposium on Robotics and Applications (ISORA 2018), World Automation Congress (WAC), 2018.06. |
| 92. |
Gait recognition with low resolution images using inter-frame difference and CNN
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. . |
| 93. |
Development of Automatic Driving System for Personal Mobility Vehicles using Small Sensor Terminal
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. . |
| 94. |
Development of informationally structured environment for personal mobility and navigation experiment at theme park
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. . |
| 95. |
Realization of Pick and Place Operations by an Inflatable Robotic Arm
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. . |
| 96. |
Shoko Miyauchi, Ken'ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Efficient Geometrical Feature Preserving Mapping for Organ Surface Model, 2018 IEEE International Symposium on Biomedical Imaging, 2018.04. |
| 97. |
Person recognition based on shadows. |
| 98. |
Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume, Motion Control for Robotic Arm with Rotational Counterweights, 2017 IEEE/SICE International Symposium on System Integration (SII 2017), 2017.12. |
| 99. |
Kazuto Nakashima, Seungwoo Nham, Hojung Jung, Yumi Iwashita, Ryo Kurazume, Oscar Mozos, Recognizing Outdoor Scenes by Convolutional Features of Omni-directional LiDAR Scans, 2017 IEEE/SICE International Symposium on System Integration (SII 2017), 2017.12. |
| 100. |
Laser measurement system for large scale architectures using wheel and flying multiple robots. |
| 101. |
Ryosuke Ishine, Akihiro Kawamura, Ryo Kurazume, Motion Control for Robotic Arm with Rotational Counterweights, The tenth Joint Workshop on Machine Perception and Robotics (MPR17), 2017.10. |
| 102. |
Akihiro Kawamura, Naoki Nomaguch, Asuka Egashira, Sadao Kawamura, Ryo Kurazume, Simulation Development for Inflatable Pneumatic Actuators, The tenth Joint Workshop on Machine Perception and Robotics (MPR17), 2017.10. |
| 103. |
Yuuta Watanabe, Akio Shigekane, Kohei Matsumoto, Yongjin Jung, Kazuto Nakashima, Akihiro Kawamura, Ryo Kurazume, Navigation system of personal mobility in informationally structured/unstructured environments, The tenth Joint Workshop on Machine Perception and Robotics (MPR17), 2017.10. |
| 104. |
Yuta Horikawa, Asuka Egashira, Kazuto Nakashima, Akihiro Kawamura, Ryo Kurazume, Previewed Reality: Near-future perception system, The tenth Joint Workshop on Machine Perception and Robotics (MPR17), 2017.10. |
| 105. |
Yuta Horikawa, Asuka Egashira, Kazuto Nakashima, Akihiro Kawamura, Ryo Kurazume, Previewed Reality: Near-future perception system, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 2017.09. |
| 106. |
Shoko Miyauchi, Ken'ichi Morooka, Sho Sasaki, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Brain Atlas Construction by Non-Rigid Registration of Brain Block Models, CARS 2017 Computer Assisted Radiology and Surgery, 2017.6, 2017.06. |
| 107. |
ROS-TMS and Big Sensor Box: Platforms for Informationally Structured Environment
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.. |
| 108. |
Yumi Iwashita, Mafune Kakeshita, Hiroshi Sakano, Ryo Kurazume, Making gait recognition robust to speed changes using mutual subspace method, IEEE International Conference on Robotics and Automation (ICRA2017), 2017.05. |
| 109. |
Ryo Kurazume, Yoonseok Pyo, Tokuo Tsuji, Akihiro Kawamura, Feasibility study of IoRT platform "Big Sensor Box", IEEE International Conference on Robotics and Automation (ICRA2017), 2017.05. |
| 110. |
Previewed Reality: Near-Future Perception System for Informationally Structured Environment:—System Setup and Experiments using Immersive VR Display—
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. . |
| 111. |
IoT Plaltform for a Service Robot. |
| 112. |
Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume, Kazuhiro Samura, 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 Forum on Medical Imaging in Asia 2017, 2017.01. |
| 113. |
Kazuto Nakashima, Girard Julien, Yumi Iwashita, Ryo Kurazume, Automatic Houseware Registration System for Informationally-Structured Environment, 2016 IEEE/SICE International Symposium on System Integration (SII 2016), 2016.12. |
| 114. |
Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Angle- and Volume-Preserving Mapping of Organ Volume Model Based on modified Self-organizing Deformable Model, 23rd International Conference on Pattern Recognition (ICPR 2016), 2016.12, 2016.12. |
| 115. |
Tong Wu, Kazuto Nakashima, Yumi Iwashita, Ryo Kurazume, Gait Recognition using Convolutional Neural Networks, The ninth Joint Workshop on Machine Perception and Robotics (MPR16), 2016.11. |
| 116. |
Seungwoo Nham, Akihiro Kawamura, Ryo Kurazume, Real-time immersive VR system of pedestrian flow for large-scale environment, The ninth Joint Workshop on Machine Perception and Robotics (MPR16), 2016.11. |
| 117. |
Kazuto Nakashima, Yumi Iwashita, Ryo Kurazume, Houseware Detection Using Wearable Camera, The ninth Joint Workshop on Machine Perception and Robotics (MPR16), 2016.11. |
| 118. |
Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume, Kazuhiro Samura, Estimation of Soft Tissue Deformation by Neural Network, The ninth Joint Workshop on Machine Perception and Robotics (MPR16), 2016.11. |
| 119. |
Shoko Miyauchi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, A Method for Mapping Tissue Model Mapping onto Target Object, The ninth Joint Workshop on Machine Perception and Robotics (MPR16), 2016.11. |
| 120. |
Yumi Iwashita, Yuki Takefuji, Ryo Kurazume, Stable aerial image registration for people detection from a low-altitude aerial vehicle, 2016 IEEE International Conference on Systems, Man, and Cybernetics, 2016.10. |
| 121. |
村上 剛司, 辻 徳生, 長谷川 勉, Ryo Kurazume, Object tracking system by integrating multi-sensored data, The 42nd Annual Conference of IEEE Industrial Electronics Society (IECON 2016), 2016.10. |
| 122. |
Hojung Jung, Yuki Oto, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, Multi-modal Panoramic 3D Outdoor Datasets for Place Categorization, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016.10. |
| 123. |
Kaoru Kobayashi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume, A Method for Estimating Tissue Deformation by Deep Neural Network, Asian Conference on Computer Aided Surgery (ACCAS 2016),, 2016.10. |
| 124. |
Shoko Miyauchi, Ken'ichi Morooka, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, Volume Representation of Parenchymatous Organs by Volumetric Self-organizing Deformable Model, MICCAI 2016 Workshop on Spectral and Shape Analysis in Medical Imaging, 2016.10. |
| 125. |
Shoko Miyauchi, KEN'ICHI MOROOKA, Tokuo Tsuji, Yasushi Miyagi, Takaichi Fukuda, Ryo Kurazume, A method for mapping tissue volume model onto target volume using volumetric self-organizing deformable model, Proc. SPIE, 9784, Medical Imaging 2016: Image Processing, 2016.02. |
| 126. |
高嶺 朝理, Yumi Iwashita, Ryo Kurazume, First-Person Activity Recognition with C3D Features from Optical Flow Images, 2015 IEEE/SICE International Symposium on System Integration (SII 2015), 2015.12. |
| 127. |
Ghallabi Farouk, Akihiro Kawamura, Yoonseok Pyo, Tokuo Tsuji, Ryo Kurazume, Control Architecture for Service Drone in Informationally Structured Environment, 2015 IEEE/SICE International Symposium on System Integration (SII 2015), 2015.12. |
| 128. |
Kazuto Nakashima, Yumi Iwashita, Yoonseok Pyo, Asamichi Takamine, Ryo Kurazume, Fourth-Person Sensing for a Service Robot, Proc. of IEEE International Conference on Sensors 2015, 2015.11. |
| 129. |
Asamichi Takamine, Yumi Iwashita, Ryo Kurazume, First-person animal activity recognition using C3D, The eleventh Joint Workshop on Machine Perception and Robotics (MPR15), 2015.11. |
| 130. |
Shou Sasaki, KEN'ICHI MOROOKA, Kaoru Kobayashi, Tokuo Tsuji, Takaichi Fukuda, Kazuhiro Samura, Ryo Kurazume, Brain model generation using internal structure contours, The eleventh Joint Workshop on Machine Perception and Robotics (MPR15), 2015.11. |
| 131. |
KEN'ICHI MOROOKA, Kaoru Kobayashi, Oscar Martinez Mozos, Tokuo Tsuji, Ryo Kurazume, Peter K. Ahnelt, Identification of cone cell distribution pattern in retina image, The eleventh Joint Workshop on Machine Perception and Robotics (MPR15), 2015.11. |
| 132. |
Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, KEN'ICHI MOROOKA, Ryo Kurazume, Grasp quality metric for elastic fingertip using potential energy, The eleventh Joint Workshop on Machine Perception and Robotics (MPR15), 2015.11. |
| 133. |
Yumi Iwashita, Hitoshi Sakano, Ryo Kurazume, Gait recognition robust to speed transition using mutual subspace method, The eleventh Joint Workshop on Machine Perception and Robotics (MPR15), 2015.11. |
| 134. |
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, The eleventh Joint Workshop on Machine Perception and Robotics (MPR15), 2015.11. |
| 135. |
Yumi Iwashita, Ryo Kurazume, Stable image registration for people tracking from the sky, Int. Conf. on Emerging Security Technologies, 2015.09. |
| 136. |
Yumi Iwashita, Hitoshi Sakano, Kurazume Ryo, Gait Recognition Robust to Speed Transition using Mutual Subspace Method, 18th International Conference on Image Analysis and Processing, 2015.09. |
| 137. |
Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, KEN'ICHI MOROOKA, Ryo Kurazume, Grasp Stability Evaluation based on Energy Tolerance in Potential Field, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), 2015.09. |
| 138. |
Souichiro Oshima, Shingo Nagakura, Yongjin Jeong, Yumi Iwashita, Ryo Kurazume, Automatic planning of laser measurements for a large-scale environment using CPS-SLAM system, Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), 2015.09. |
| 139. |
Yoonseok Pyo, Tokuo Tsuji, Yuuka Hashiguchi, Kurazume Ryo, Immersive VR Interface for Informationally Structured Environment, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2015), 2015.07. |
| 140. |
Yoonseok Pyo, Kouhei Nakashima, Tokuo Tsuji, KEN'ICHI MOROOKA, Kurazume Ryo, Motion Planing for Fetch-and-Give Task using Wagon and Service Robot, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2015), 2015.07. |
| 141. |
Yuki Takabayashi, Kurazume Ryo, Altitude Estimation Using Particle Filter with Monopulse Radars in a Multipath Environment, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2015), 2015.07. |
| 142. |
Low-altitude Tracking Method Using Particle Filter with Radars in a Multipath Environment
It is well known that the problem of multipath propagation arises in the tracking low-altitude targets with a monopulse radar and causes large bias error in the estimated altitude of the target. Since the bias error caused by multipath propagation depends on a large number of parameters such as the frequency of the radar waveform, the actual target altitude, and range, it is difficult to estimate the bias errors. In this paper, we propose an altitude estimation method using particle filter and multipath propagation model. The performance of the proposed method is verified through computer simulations.. |
| 143. |
新崎 誠, Yumi Iwashita, 小川原 光一, Kurazume Ryo, Gait-based person identification method using shadow biometrics for robustness to changes in the walking direction, IEEE Winter Conference on Applications of Conputer Vision 2015 (WACV), 2015.01. |
| 144. |
Tokuo Tsuji, Kosei Baba, KEN'ICHI MOROOKA, Kensuke Harada, Kenji Tahara, Ryo Kurazume, Grasp Stability Evaluation for Elastic Fingertips by using Potential Energy Field, 2014 IEEE/SICE International Symposium on System Integration, 2014.12. |
| 145. |
Hojung Jung, Ryo Kurazume, Yumi Iwashita, Oscar Martinez Mozos, Two-Dimensional Local Ternary Patterns using Synchronized Images for Outdoor Place Categorization, IEEE International Conference on Image Processing 2014, 2014.10. |
| 146. |
KEN'ICHI MOROOKA, Yousuke Nakasuka, Tokuo Tsuji, 小林 薫樹, Ryo Kurazume, Makoto Hashizume, Tissue Shape Reconstruction by Stereo Endoscopic Images, The Tenth Joint Workshop on Machine Perception and Robotics (MPR14), 2014.10. |
| 147. |
Asamichi Takamine, Yumi Iwashita, Ryo Kurazume, Michael S. Ryoo, First-person activity recognition from DogCentric videos, The Tenth Joint Workshop on Machine Perception and Robotics (MPR14), 2014.10. |
| 148. |
Makoto Shinzaki, Yumi Iwashita, Ryo Kurazume, Gait recognition robust in appearance changes, The Tenth Joint Workshop on Machine Perception and Robotics (MPR14), 2014.10. |
| 149. |
小林 薫樹, KEN'ICHI MOROOKA, 宮城 靖, 福田 孝一, Tokuo Tsuji, Ryo Kurazume, 左村 和宏, Construction of Patient Specific Brain Atlas by Deforming Template Brain Atlas, The Tenth Joint Workshop on Machine Perception and Robotics (MPR14), 2014.10. |
| 150. |
Yumi Iwashita, Kazuto Nakashima, Yoonseok Pyo, Ryo Kurazume, Fourth-person sensing for pro-active services, Fifth International Conference on Emerging Security Technologies (EST-2014), 2014.09. |
| 151. |
Hojung Jung, Oscar Martinez Mozos, Yumi Iwashita, Ryo Kurazume, Indoor Place Categorization using Co-Occurrences of LBPs in Gray and Depth Images from RGB-D Sensors, Fifth International Conference on Emerging Security Technologies (EST-2014), 2014.09. |
| 152. |
Yumi Iwashita, Ryo Kurazume, Adrian Stoica, Gait identification using invisible shadows: robustness to appearance changes, Fifth International Conference on Emerging Security Technologies (EST-2014), 2014.09. |
| 153. |
Shoko Miyauchi, KEN'ICHI MOROOKA, Tokuo Tsuji, 宮城 靖, 福田 孝一, Ryo Kurazume, Area- and Angle-Preserving Parameterization for Vertebra Surface Mesh, 2nd MICCAI Workshop & Challenge Computational Methods and Clinical Applications for Spine Imaging, 2014.09. |
| 154. |
Tokuo Tsuji, Soichiro Uto, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa, KEN'ICHI MOROOKA, Grasp Planning for Constricted Parts of Objects Approximated with Quadric Surfaces, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.09. |
| 155. |
吉 媛テイ, KEN'ICHI MOROOKA, Oscar Martinez Mozos, Tokuo Tsuji, Ryo Kurazume, Peter K. Ahnelt, A Method to Identifying Distribution Pattern of Corn Cells in Retina Image, 2014 World Automation Congress (WAC) - ISORA 2014, 2014.08. |
| 156. |
Masanori Ishibashi, Yumi Iwashita, Ryo Kurazume, Noise-Estimate Particle PHD filter, 2014 World Automation Congress (WAC) - ISORA 2014, 2014.08. |
| 157. |
Yumi Iwashita, Asamichi Takamine, Ryo Kurazume, Michael S. Ryoo, First-Person Animal Activity Recognition from Egocentric Videos, 22nd International Conference on Pattern Recognition (ICPR 2014), 2014.08. |
| 158. |
小林 薫樹, KEN'ICHI MOROOKA, 宮城 靖, 福田 孝一, Tokuo Tsuji, Ryo Kurazume, 左村 和宏, Estimation of Brain Internal Structures by Deforming Brain Atlas Using Finite Element Method, 36th Annual International IEEE EMBS Conference, 2014.08. |
| 159. |
Yumi Iwashita, Asamichi Takamine, Ryo Kurazume, Michael S. Ryoo, First-Person Activity Recognition from Animal Video, 3rd Workshop on Egocentric (First-person) Vision in CVPR 2014, 2014.06. |
| 160. |
A Method for Mapping Tissue Surface Model onto Target Surface Based on Self-Organizing Deformable Model Preserving Geometrical Features
複雑な形状をもつ人体組織同士を比較する際,それぞれのメッシュモデルを,形状が単純な目標曲面にいったん写像して,写像先で差異を比較する手法がある.このとき,対象組織で共通の解剖学的特徴が,目標曲面上で同じ位置にあると,他の部位でも対応付けが容易になる.また,組織形状に近い曲面を目標曲面として選ぶことで,写像が単純で直感的になり,解析しやすくなる.しかし,従来の写像法では,写像先を直接的に制御できず,また,従来法の目標曲面は平面や球面のみであり,形状を自由に設定するのは困難である.そこで,本論文では,特に脳表モデルに対し,モデルの写像先を制御しながら,脳表に適した形状の目標曲面へ写像する新たな手法を提案する.まず,自己組織化可変モデル変形法を用いて,モデルを目標曲面上へ写像する.この変形法を用いることで,写像の直接的制御や,モデルと同一位相をもつ形状の目標曲面が使用可能となる.この際,隣接していないモデルの頂点が,目標曲面上で同じ位置に写像されている折り畳みが生じている場合があり,この折り畳みを除去する.次に,モデルの幾何情報の一つである,モデルの表面積に対する各パッチの面積比を写像前後で保存しつつ,目標曲面に脳表を写像する.6個の脳表モデルを用いた実験を行い,提案手法は,特徴領域を特定の位置に写像しつつ,脳表モデルを目標曲面へ滑らかに写像できることを確認した.. |
| 161. |
Masanori Ishibashi, Yumi Iwashita, Ryo Kurazume, Adaptive Target Tracking by Noise-Estimated Particle filter, 20th Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV2014), 2014.02. |
| 162. |
Hexahedral Finite Element Modeling of Human Tissue by Using Growing Self-Organizing Deformable Model
Finite Element Method (FEM) is one of the techniques for deformation simulations of human tissue. The basic concept of FEM is the discretization of an object into FE-model that consists of simple geometry called elements. Although The most common type of elements are tetrahedral elements, Hexahedral elements have an advantage of analysis accuracy. However, automatic generation method of hexahedral elements for complex shape have not been established. This paper proposes a method that generate generate hexahedral finite element model for complex shape using Growing Self-Organizing Deformable Model (GSDM). By several simulations using our proposed model, we confirmed that deformation analysis is performed with higher accuracy and in a shorter time.. |
| 163. |
Area- and Angle-preserving Projection of Tissue Surface Model onto Target Surface
This paper proposes a new method for mapping a tissue surface model onto a target surface while preserving geometrical features of the tissue surface. The proposed method is based on Self-organizing Deformable Model (SDM) whose shape is deformed by using a competitive learning and an energy minimization approach. In our method, several landmarks selected from the tissue model can be mapped onto their target positions of the target surface. In addition, our method preserves the area and angle of each patch included in the original model before and after mapping. Using the mapping result, some models with different numbers of vertices are represented with a unified model structure. From several experimental results, we can conclude that the proposed method can resample equally the original model while controlling mapping positions of landmarks.. |
| 164. |
Soichiro Uto, Tokuo Tsuji, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa, Grasp Planning using Quadric Surface Approximation for Parallel Grippers, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013.12. |
| 165. |
Shuji Oishi, Yongjin Jeong, Ryo Kurazume, Yumi Iwashita, Tsutomu Hasegawa, ND voxel localization using large-scale 3D environmental map and RGB-D camera, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013.12. |
| 166. |
Yoonseok Pyo, Tsutomu Hasegawa, Masahide Tanaka, Tokuo Tsuji, KEN'ICHI MOROOKA, Ryo Kurazume, Measurement and Estimation of Indoor Human Behavior of Everyday Life Based on Floor Sensing with Minimal Invasion of Privacy, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013.12. |
| 167. |
Hojung Jung, Yumi Iwashita, Ryo Kurazume, Scene Scene Classification of Driving Environment using Laser Scanner, The Korean Society of Automotive Engineers 2013 Annual Conference and Exhibition, 2013.11. |
| 168. |
Ryo Kurazume, Real world informative robotics, The Korean Society of Automotive Engineers 2013 Annual Conference and Exhibition, 2013.11. |
| 169. |
Hojung Jung, Ryo Kurazume, 岩下 友美, Outdoor Scene Classification Using Laser Scanner, The Ninth Joint Workshop on Machine Perception and Robotics (MPR13), 2013.10. |
| 170. |
Naoaki Kondo, Shuji Oishi, 岩下 友美, Ryo Kurazume, Classification of Urban Area Using Laser Scanner, The Ninth Joint Workshop on Machine Perception and Robotics (MPR13), 2013.10. |
| 171. |
Shoko Miyauchi, KEN'ICHI MOROOKA, 宮城 靖, 福田 孝一, Tokuo Tsuji, Ryo Kurazume, Brain Surface Model Mapping onto Target Surface, The Ninth Joint Workshop on Machine Perception and Robotics (MPR13), 2013.10. |
| 172. |
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa, Robust Manipulation against Large Time-Delay of Visual Information, The Ninth Joint Workshop on Machine Perception and Robotics (MPR13), 2013.10. |
| 173. |
Yoonseok Pyo, Tokuo Tsuji, Shunya Kuwahata, Tsutomu Hasegawa, KEN'ICHI MOROOKA, Ryo Kurazume, Informationally Structured Environment for Elderly Care House, The Ninth Joint Workshop on Machine Perception and Robotics (MPR13), 2013.10. |
| 174. |
Shuhei Takaki, Yumi Iwashita, KEN'ICHI MOROOKA, Tokuo Tsuji, Ryo Kurazume, Abnormal Behavior Detection in Privacy Protected Videos Using Affine Moment Invariants, The Ninth Joint Workshop on Machine Perception and Robotics (MPR13), 2013.10. |
| 175. |
Yosuke Nakasuka, KEN'ICHI MOROOKA, Tokuo Tsuji, Ryo Kurazume, Xian Chen, Makoto Hashizume, Navigation System for Minimally Invasive Surgery, The Ninth Joint Workshop on Machine Perception and Robotics (MPR13), 2013.10. |
| 176. |
Shuji Oishi, Ryo Kurazume, 岩下 友美, Texture Restoration Using Laser Attributes, The Ninth Joint Workshop on Machine Perception and Robotics (MPR13), 2013.10. |
| 177. |
Soichiro Uto, Tokuo Tsuji, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa, Grasp Planning for Convex Shapes Using a Soft Plane Gipper, The Ninth Joint Workshop on Machine Perception and Robotics (MPR13), 2013.10. |
| 178. |
Oishi Shuji, 倉爪 亮, 岩下 友美, 長谷川 勉, Hole-free texture maping based on laser reflectivity, The International Conference on Image Processing (ICIP), 2013.09. |
| 179. |
Shoko Miyauchi, KEN'ICHI MOROOKA, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, Ryo Kurazume, Tissue surface model mapping onto arbitrary target surface based on self-organizing deformable model, 2013 4th Int. Conf. on Emerging Security Technologies, 2013.09. |
| 180. |
Yumi Iwashita, Shuhei Takaki, KEN'ICHI MOROOKA, Tokuo Tsuji, Ryo Kurazume, Abnormal behavior detection using privacy protected videos, 2013 4th Int. Conf. on Emerging Security Technologies, 2013.09. |
| 181. |
Gait identification robust to changes in walking direction by 4D gait database
In person identification using gait images, various inherent image features of individuals are extracted from a sequence of gait images. However, for instance, if a subject's observation angle changes compared with those in the database, the correct classification rate gets low. To deal with this problem, we constructed a 4D gait database consisting of multiple 3D shape models of walking subjects, and introduce a method robustly against walking direction changes. In this method, firstly we reconstruct 3D models of subjects from gait images taken by multiple cameras, and then synthesize virtual images of 3D models from multiple arbitrary virtual viewpoints and build a database from gait features extracted from virtual images. In the identification phase, the person is identified by matching the gait features of the subject and those from all virtual viewpoints in the database. However, the calculation cost is expensive due to full search, and the subject is wrongly estimated due to wrong estimation of walking direction. So in this paper, to achieve the reduction of calculation time and high correct classification rate, we introduce a method which estimates the walking direction using Frieze Patterns firstly and then identify the person using features from the estimated virtual viewpoint. Experiments using the 4D gait database show the effectiveness of the proposed method.. |
| 182. |
Gait identification based on shadows from infrared lights
This paper introduces a novel system for person identification from shadow images of walking person projected by invisible lights, and a shadow database of walking people. In general the correct classification rate of person identification is better when multiple cameras from different viewpoints are used, but most of conventional methods have used one camera, because of (i) easy installation in real environments, since there is no need to synchronize cameras, (ii) reduction of calculation costs. In the proposed system, we obtain the advantages of multiple viewpoints but with a single camera. More specific, we install multiple infrared lights to project shadows of a subject on the ground and a camera with an infrared transmitting filter to the ceiling inside of a building. Shadow areas, which are projections of one's body on the ground by multiple lights, can be considered as body areas captured from different viewpoints, so the proposed system enables to capture multiple body areas from only one camera. We collect a shadow database consisting of 28 people with this system, and we extract features from shadow areas by spherical harmonics, followed by identification of the subject. Experiments using the gait database show the effectiveness of the proposed method.. |
| 183. |
Gait identification based on shadows from infrared lights
This paper introduces a novel system for person identification from shadow images of walking person projected by invisible lights, and a shadow database of walking people. In general the correct classification rate of person identification is better when multiple cameras from different viewpoints are used, but most of conventional methods have used one camera, because of (i) easy installation in real environments, since there is no need to synchronize cameras, (ii) reduction of calculation costs. In the proposed system, we obtain the advantages of multiple viewpoints but with a single camera. More specific, we install multiple infrared lights to project shadows of a subject on the ground and a camera with an infrared transmitting filter to the ceiling inside of a building. Shadow areas, which are projections of one's body on the ground by multiple lights, can be considered as body areas captured from different viewpoints, so the proposed system enables to capture multiple body areas from only one camera. We collect a shadow database consisting of 28 people with this system, and we extract features from shadow areas by spherical harmonics, followed by identification of the subject. Experiments using the gait database show the effectiveness of the proposed method.. |
| 184. |
Gait identification robust to changes in observation angle
In person identification using gait images, various inherent image features of individuals are extracted from a sequence of gait images taken by a camera. However, for instance, if the subject is close to the camera and the camera captures gait images from the side direction, observation angles between walking direction of the subject and directions of the camera to the subject at all frames are varied during one gait cycle. This unfavorable change induces the decrease of the identification performance. So in this paper, we propose a novel gait identification technique which is robust to changes in observation angle in one gait cycle. The proposed technique utilizes a 4D gait database consisting of multiple 3D shape models of walking subjects and adaptive virtual image synthesis. Experiments using the 4D gait database of 21 subjects show that the proposed method is robust to the changes of the observation angles in one walking cycle and achieves higher recognition performance than the case using a fixed observation angle in one gait cycle. Besides, experimental results show the feasibility of identifying people walking on curved trajectories.. |
| 185. |
Gait identification robust to changes in observation angle
In person identification using gait images, various inherent image features of individuals are extracted from a sequence of gait images taken by a camera. However, for instance, if the subject is close to the camera and the camera captures gait images from the side direction, observation angles between walking direction of the subject and directions of the camera to the subject at all frames are varied during one gait cycle. This unfavorable change induces the decrease of the identification performance. So in this paper, we propose a novel gait identification technique which is robust to changes in observation angle in one gait cycle. The proposed technique utilizes a 4D gait database consisting of multiple 3D shape models of walking subjects and adaptive virtual image synthesis. Experiments using the 4D gait database of 21 subjects show that the proposed method is robust to the changes of the observation angles in one walking cycle and achieves higher recognition performance than the case using a fixed observation angle in one gait cycle. Besides, experimental results show the feasibility of identifying people walking on curved trajectories.. |
| 186. |
Laser-based modeling of large-scale environment using multiple mobile robots
We have been proposing a high precision laser-based 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. This paper presents some improvements of the proposed system by replacing and installing several devices to make the positioning accuracy higher. The experimental results show the system achieves quite high accuracy of the 0.03 % of target's size. The omni-directional sensing robot equipped with four RGB-D cameras and its measurement experiments are also introduced.. |
| 187. |
Laser-based modeling of large-scale environment using multiple mobile robots
We have been proposing a high precision laser-based 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. This paper presents some improvements of the proposed system by replacing and installing several devices to make the positioning accuracy higher. The experimental results show the system achieves quite high accuracy of the 0.03 % of target's size. The omni-directional sensing robot equipped with four RGB-D cameras and its measurement experiments are also introduced.. |
| 188. |
Indoor place categorization for service robots using camera and depth images
An important capability for service robots working with humans in indoor environments is their ability to categorize the different places where they are located. In this paper we present an approach to categorize different areas in indoor environments using an RGB-D sensor like the Kinect camera. First, RGB images are transformed into grey scale images. Then, grey scale and depth images are transformed into histograms of local features that incorporate neigh-boring relations by applying local binary patterns and also a short version of this pattern. The feature vectors corresponding to grey scale and depth images are combined and categorized into different places using supervised classifiers like for example support vector machines. We apply this method to distinguish five different place categories and obtain high recognition rates.. |
| 189. |
Indoor place categorization for service robots using camera and depth images
An important capability for service robots working with humans in indoor environments is their ability to categorize the different places where they are located. In this paper we present an approach to categorize different areas in indoor environments using an RGB-D sensor like the Kinect camera. First, RGB images are transformed into grey scale images. Then, grey scale and depth images are transformed into histograms of local features that incorporate neigh-boring relations by applying local binary patterns and also a short version of this pattern. The feature vectors corresponding to grey scale and depth images are combined and categorized into different places using supervised classifiers like for example support vector machines. We apply this method to distinguish five different place categories and obtain high recognition rates.. |
| 190. |
Oscar Martinez Mozos, Ryo Kurazume, Tsutomu Hasegawa, Multi-part people detection using 2D range data, International Journal of Social Robotics, 2010.03, People detection is a key capacity for robotics systems that have to interact with humans. This paper addresses the problem of detecting people using multiple layers of 2D laser range scans. Each layer contains a classifier able to detect a particular body part such as a head, an upper body or a leg. These classifiers are learned using a supervised approach based on Ada Boost. The final person detector is composed of a probabilistic combination of the outputs from the different classifiers. Experimental results with real data demonstrate the effectiveness of our approach to detect persons in indoor environments and its ability to deal with occlusions. © Springer Science & Business Media BV 2009.. |
| 191. |
Real-Time Nonlinear FEM-Based Simulator for Deforming Volume Model of Soft Organ by Neural Network
本論文では,ニューラルネットワークを用いて,軟性臓器モデルの変形をシミュレートする新たな手法を提案する.提案手法は,基本的なモデルの変形(以後,変形モードと呼ぶ)の組合せに基づいて,モデルの変形を推定する.つまり,変形モードをあらかじめ非線形有限要素法で求め,臓器に加わった外力と,それに対応する変形モードの関係をニューラルネットワークで学習する.学習したニューラルネットワークは,非線形有限要素解析によりモデルの振舞いを推定することを模倣する.実験結果より,提案手法は,非線形有限要素解析とほぼ同程度の精度を保ちつつ,計算コストを大幅に削減することができた.. |
| 192. |
Articulated Structure from Motion using Subspace Separation
This paper considers the problem of articulated structure from motion where the target object is made of articulated rigid bodies and all the feature points are not always observed simultaneously. We deal with this problem by subspace separation method and it is quite important to use feature points whose accuracy in position and separation is high. In this study, we propose a method that rejects wrong feature points as much as possible so as to estimate structure and motion stably with the remaining good feature points.. |
| 193. |
Articulated structure from motion using subspace separation. |
| 194. |
Articulated structure from motion using subspace separation. |
| 195. |
Articulated structure from motion using subspace separation. |
| 196. |
GUARNIERI MICHELE, guarnieri michele, 倉爪 亮, KURAZUME RYO, DEBENEST PAULO CESAR, Debenest Paulo Cesar, 程島 竜一, Hodoshima Ryuichi, 福島 E. 文彦, FUKUSHIMA EDWARDO FUMIHIKO, 広瀬 茂男, HIROSE SHIGEO, HELIOS System: A Team of Tracked Robots for Special Urban Search and Rescue Operations, 2009.10. |
| 197. |
Ryo Kurazume, Tsutomu Hasegawa, A new index of serial-link manipulator performance combining dynamic manipulability and manipulating force ellisoids, IEEE Transactions on Robotics, 2006.10, The inertia matching ellipsoid (IME) is proposed as a new index of dynamic performance for serial-link robotic manipulators. The IME integrates the existing dynamic manipulability and manipulating-force ellipsoids to achieve an accurate measure of the dynamic torque-force transmission efficiency between the joint torque and the force applied to a load held by an end-effector. The dynamic manipulability and manipulating-force ellipsoids can both be derived from the IME as limiting forms, with respect to the weight of the load. The effectiveness of the IME is demonstrated numerically through the selection of an optimal leg posture for jumping robots and optimal active stiffness control, and experimentally through application to a pick-up task using a commercial manipulator. The index is also extended theoretically to the case of a manipulator mounted on a free-flying satellite. © 2006 IEEE.. |
| 198. |
Telecommunication via embodied proactive interface
The purpose of this research is the development of a new interface called "proactive interface" for natural telecommunication. Features of the proactive interface are twofolds. The first feature is an embodied device using robot technology. Instead of virtual media, humanoids are used as the interface for presenting gesture of a user to a distant user. The second feature is estimation of user's intention for compensating system delays. A recognition-based gesture prediction scheme can be used for the estimation. A two-way telecommunication system connecting two distant campuses was developed to demonstrate the proactive interface.. |
| 199. |
Telecommunication via embodied proactive interface
The purpose of this research is the development of a new interface called "proactive interface" for natural telecommunication. Features of the proactive interface are twofolds. The first feature is an embodied device using robot technology. Instead of virtual media, humanoids are used as the interface for presenting gesture of a user to a distant user. The second feature is estimation of user's intention for compensating system delays. A recognition-based gesture prediction scheme can be used for the estimation. A two-way telecommunication system connecting two distant campuses was developed to demonstrate the proactive interface.. |
| 200. |
Parallel Simultaneous Alignment of a Large Number of Range Images on Distributed Memory System
This paper describes a method for parallel alignment of multiple range images. Since it is difficult to align a large number of range images simultaneously, we developed a parallel method to accelerate and reduce the memory requirement of the process. Although a general simultaneous alignment algorithm searches correspondences for all pairs of all range images, by rejecting redundant dependencies, our method makes it possible to accelerate computation time and reduce the amount of memory used on each node. The correspondence search is performed independently for each pair of range images. Accordingly, the computations between the pairs are preformed in parallel on multiple processors. All relations between range images are described as a pair node hyper-graph. Then, an optimal pair assignment is computed by partitioning the graph properly. The method was tested on a 16 processor PC cluster, where it demonstrated the high extendibility and the performance improvement in time and memory.. |
| 201. |
Early Recognition and Prediction of Gestures for Proactive Human-Machine Interface
This paper concerns two topics on gesture recognition. The first topic is early recognition for providing the recognition result of a gesture before the gesture is completed. The second topic is motion prediction for guessing the subsequent posture of the person who makes a gesture. Both topics are mutually related and linked to the realization of proactive human-machine interface. For each of those two topics, a simple technique is developed and examined to reveal its limitation. Possible directions to deal with the limitation are also discussed as the future work on those topics.. |
| 202. |
Development of Robust Motion Capture System for Target Occlusion using FLSM. |
| 203. |
Gesture recognition for proactive human interface. |
| 204. |
Implementation of Fast Level Set Meshod on a PC Cluster. |
| 205. |
Realtime Tracking of Multiple Human Bodies using Fast Level Set Method. |
| 206. |
New index for a robot manipulator based on the concept of impedance matching. |
| 207. |
Development of realtime tracking system using Fast Level Set Method. |
| 208. |
Fast Level Set Method and Realtime Tracking of Moving Objects in a Sequence of Images
The level set method, introduced by S. Osher and J. A. Sethian, has attracted much attention as a topological-free active contour model. This method utilizes an implicit representation of a contour to be tracked, and is able to handle the topological change of the contour naturally. Various applications based on the level set method have been presented including motion tracking, 3D geometrical modelling, and simulation of crystallization or semiconductor growth. However, the calculation cost of reinitialization and updating of the implicit function is considerably expensive as compared with the cost of conventional active contour models such as "Snakes". In this paper, we propose an efficient calculation algorithm for the level set method named the Fast Level Set Method (FLSM). Advantages of the proposed FLSM are as follows: i) the use of the extension velocity and the high speed construction of the extension velocity field using the Fast Narrow Band Method, ii) the frequent execution of the reinitialization process of the implicit function which requires little calculation cost. The efficiency of the proposed method is verified through computer simulations, and experiments of realtime tracking of moving obiects in video images.. |
| 209. |
The Sway Compensation Trajectory for a Biped Robot. |
| 210. |
Geometric and Photometric Integration System for Large Objects
In this paper, we consider the geometric and photometric modeling of large-scale and intricately shaped objects, such as cultural heritage objects. When modeling a large-scale and intricately shaped object, a huge amount of data is required to model the object. We would like to propose two approaches to handling this amount of data : the parallel processing of merging range images and the adaptive algorithm of merging range images. First, we developed a parallel computation algorithm using a PC cluster which consists of two components, the distributed allocation of range images to multiple PCs, and the parallel traversal of sub-trees of octree. Second, we constructed a merged model in adaptive resolution according to the geometric and photometric attributes of range images for efficient use of computational resources. Moreover, we propose a novel method to construct a 3D model with an appearance by taking a consensus of the appearance changes of the target object from multiple range images.. |
| 211. |
1P1-42-059. |
| 212. |
1P1-42-061. |
| 213. |
Ryo Kurazume, Kan Yoneda, Shigeo Hirose, Feedforward and feedback dynamic trot gait control for quadruped walking vehicle, Autonomous Robots, 2002.03, 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 control using sensory information (feedback control) is indispensable. In this paper, we propose a new body trajectory, the 3D sway compensation trajectory, for a stable trot gait; we show that this trajectory has a lower energy consumption than the conventional sway trajectory that we have proposed. Then, for the adaptive attitude control method during the 2-leg supporting phase, we consider four methods, that is, 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; we then describe how we verify the stabilization efficiency of each method through computer simulation, stabilization experimentation, and experimenting in walking on rough terrain using the quadruped walking robot, TITAN-VIII.. |
| 214. |
pp.35-36. |
| 215. |
pp. 1421-1426. |
| 216. |
pp.943-946. |
| 217. |
pp.607-608. |
| 218. |
Vol.IV. |
| 219. |
pp.207-208. |
| 220. |
pp.209-210. |
| 221. |
pp.169-170. |
| 222. |
pp. 899-904. |
| 223. |
pp.437-440. |
