Updated on 2024/03/31

写真a

 
UMEDA Kazunori
 
Organization
Faculty of Science and Engineering Professor
Other responsible organization
Precision Engineering Course of Graduate School of Science and Engineering, Master's Program
Precision Engineering Course of Graduate School of Science and Engineering, Doctoral Program
Contact information
The inquiry by e-mail is 《here
External link

Degree

  • 博士(工学) ( 東京大学 )

Education

  • 1994.3
     

    The University of Tokyo   Graduate School, Division of Engineering   Precision Machinery Engineering   doctor course   completed

  • 1991.3
     

    The University of Tokyo   Graduate School, Division of Engineering   Precision Machinery Engineering   master course   completed

  • 1989.3
     

    The University of Tokyo   Faculty of Engineering   Department of Precision Machinery Engineering   graduated

Research History

  • 2021.11 -  

    中央大学大学院理工学研究科委員長

  • 2021.11 -  

    中央大学理工学部長

  • 2012.9 - 2016.3

    青山学院大学理工学部非常勤講師

  • 2007.9 - 2011.3

    青山学院大学理工学部非常勤講師

  • 2007.8 - 2009.7

    文部科学省 学術調査官

  • 2006.4 -  

    中央大学理工学部教授

  • 1998.4 - 2006.3

    中央大学理工学部助教授

  • 2002.4 - 2002.9

    東京大学工学部非常勤講師

  • 1994.4 - 1998.3

    中央大学理工学部専任講師

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Professional Memberships

  • The Japan Society for Precision Engineering

  • 日本ロボット学会

  • IEEE

  • The Institute of Electronics, Information and Communication Engineers

  • The Horological Institute of Japan

  • 日本機械学会

  • 人間情報学会

  • 計測自動制御学会

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Research Interests

  • Man-machine system

  • Image Processing

  • Robotics

Research Areas

  • Informatics / Robotics and intelligent system  / Intelligent mechanics/Mechanical systems

  • Informatics / Mechanics and mechatronics  / Intelligent mechanics/Mechanical systems

  • Informatics / Perceptual information processing  / Perceptual information processing

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Measurement engineering  / Measurement engineering

Papers

  • Three-Dimensional Environmental Measurement of Surroundings Using Camera Pose Estimation Base on Line Features. Reviewed

    Shingo Iriyama, Sarthak Pathak, Kazunori Umeda

    SII   135 - 140   2024

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII58957.2024.10417421

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    Other Link: https://dblp.uni-trier.de/db/conf/sii/sii2024.html#IriyamaPU24

  • Instance Segmentation-Based Markerless Tracking of Fencing Sword Tips. Reviewed

    Takehiro Sawahata, Alessandro Moro, Sarthak Pathak, Kazunori Umeda

    SII   472 - 477   2024

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII58957.2024.10417603

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    Other Link: https://dblp.uni-trier.de/db/conf/sii/sii2024.html#SawahataMPU24

  • Obstacle Detection and Height Estimation Using Fisheye Stereo Camera Considering Intensity Information. Reviewed

    Hikaru Chikugo, Tomoyu Sakuda, Sarthak Pathak, Kazunori Umeda

    SII   147 - 152   2024

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII58957.2024.10417263

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    Other Link: https://dblp.uni-trier.de/db/conf/sii/sii2024.html#ChikugoSPU24

  • 3D Measurement Using Line Laser and Stereo Camera with Background Subtraction. Reviewed

    Shunya Nonaka, Sarthak Pathak, Kazunori Umeda

    SII   508 - 513   2024

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII58957.2024.10417501

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    Other Link: https://dblp.uni-trier.de/db/conf/sii/sii2024.html#NonakaPU24

  • Development of an Environmentally Independent Mobile Manipulation System for Product Disposal in Retail Stores. Reviewed

    Ryogo Kai, Kenta Ohashi, Hikaru Fujita, Takuya Kojima, Yuma Sasaki, Mihoko Niitsuma, Kazunori Umeda

    SII   1282 - 1287   2024

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII58957.2024.10417581

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    Other Link: https://dblp.uni-trier.de/db/conf/sii/sii2024.html#KaiOFKSNU24

  • Vision-Based In-Hand Manipulation for Variously Shaped and Sized Objects by a Robotic Gripper With Active Surfaces. Reviewed

    Yuzuka Isobe, Sunhwi Kang, Takeshi Shimamoto, Yoshinari Matsuyama, Sarthak Pathak, Kazunori Umeda

    IEEE Access   11   127317 - 127333   2023.11

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    DOI: 10.1109/ACCESS.2023.3331012

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  • Experimental Evaluation of Highly Accurate 3D Measurement Using Stereo Camera and Line Laser Reviewed

    Shunya Nonaka, Sarthak Pathak, Kazunori Umeda

    Journal of Robotics and Mechatronics   35 ( 5 )   1374 - 1384   2023.10

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press Ltd.  

    This paper proposes a method to improve the accuracy of 3D measurement of a stereo camera by marking a measured object using a line laser. Stereo cameras are commonly used for 3D measurement, but the accuracy of 3D measurement is affected by the amount of texture. Therefore, a new measurement system combining a stereo camera and a line laser is developed. The accuracy of 3D measurement with a stereo camera is improved by using a line laser to mark arbitrary points on the measured object and measuring the marked points, regardless of the amount of texture on the measured object. Because the laser is only used to mark points on the measurement target, calibration is not required with the stereo camera. Experimental evaluation showed that our proposed method can obtain millimeters.

    DOI: 10.20965/jrm.2023.p1374

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  • Vision-Based In-Hand Manipulation of Variously Shaped Objects via Contact Point Prediction. Reviewed

    Yuzuka Isobe, Sunhwi Kang, Takeshi Shimamoto, Yoshinari Matsuyama, Sarthak Pathak, Kazunori Umeda

    IROS   8727 - 8734   2023.10

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    DOI: 10.1109/IROS55552.2023.10341968

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  • Estimation of Road Surface Plane and Object Height Focusing on the Division Scale in Disparity Image Using Fisheye Stereo Camera. Reviewed

    Tomoyu Sakuda, Hikaru Chikugo, Kento Arai, Sarthak Pathak, Kazunori Umeda

    Journal of Robotics and Mechatronics   35 ( 5 )   1354 - 1365   2023.10

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    In this paper, we propose a novel algorithm for estimating road surface shapes and object heights using a fisheye stereo camera. Environmental recognition is an important task for advanced driver-assistance systems. However, previous studies have only achieved narrow measurement ranges owing to sensor restrictions. Moreover, the previous approaches cannot be used in environments where the slope changes because they assume inflexible constraints on the road surfaces. We use a fisheye stereo camera capable of measuring wide and dense 3D information and design a novel algorithm by focusing on the degree of division in a disparity image to overcome these defects. Experiments show that our method can detect an object in various environments, including those with inclined road surfaces.

    DOI: 10.20965/jrm.2023.p1354

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  • Improvement of Sequential SLAM by Considering Semi-dynamic Objects in Indoor Dynamic Environments Reviewed

    Yuhei Oshikubo, Keigo Akiba, Sarthak Pathak, Yonghoon Ji, Kazunori Umeda

    Proc. of Joint Conference on 14th France-Japan and 12th Europe-Asia Congress on Mechatronics & The 9th Asia International Symposium on Mechatronics (AISM2023)   Mecatronics23-AISM23-000424   2023.9

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  • Indoor 3D measurement using camera pose estimation based on line features

    Iriyama Shingo, Pathak Sarthak, Umeda Kazunori

    Proceedings of JSPE Semestrial Meeting   2023A   614 - 615   2023.8

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    Language:Japanese   Publisher:The Japan Society for Precision Engineering  

    This study proposes a measurement method for the interior of large structures for infrastructure maintenance and inspection. The 3D point cloud of a room is obtained by a light section method using sphere camera that can capture a 360-degree view of the surrounding area and a 360-degree ring laser. Specifically, the camera's orientation is determined by detecting line components in real space using the spherical camera images and comparing the distribution of these line components with the three directions in real space, based on the Manhattan world assumption. Using the camera's orientation, the 3D point cloud of the entire room is generated by integrating the point clouds obtained from multiple light sections.

    DOI: 10.11522/pscjspe.2023a.0_614

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  • Intuitive Arm-Pointing based Home-Appliance Control from Multiple Camera Views. Reviewed

    Masae Yokota, Soichiro Majima, Sarthak Pathak, Kazunori Umeda

    RO-MAN   179 - 184   2023.8

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/RO-MAN57019.2023.10309557

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    Other Link: https://dblp.uni-trier.de/db/conf/ro-man/ro-man2023.html#YokotaMPU23

  • Automatic scoring in fencing by using skeleton points extracted from images Reviewed

    Takehiro Sawahata, Alessandro Moro, Sarthak Pathak, Kazunori Umeda

    Sixteenth International Conference on Quality Control by Artificial Vision   2023.7

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:SPIE  

    DOI: 10.1117/12.3000424

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  • Performance Improvement of ICP-SLAM by Human Removal Process Using YOLO Reviewed

    Keigo Akiba, Ryuki Suzuki, Yonghoon Ji, Sarthak Pathak, Kazunori Umeda

    Applied human informatics   5 ( 1 )   1 - 13   2023.4

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    DOI: 10.14865/ahi.5.1.1

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  • Anomaly detection from images in pipes using GAN Reviewed

    Shigeki Yumoto, Takumi Kitsukawa, Alessandro Moro, Sarthak Pathak, Taro Nakamura, Kazunori Umeda

    ROBOMECH Journal   10 ( 9 )   2023.3

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    Authorship:Last author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Springer Science and Business Media LLC  

    Abstract

    In recent years, the number of pipes that have exceeded their service life has increased. For this reason, earthworm-type robots equipped with cameras have been developed to perform regularly inspections of sewer pipes. However, inspection methods have not yet been established. This paper proposes a method for anomaly detection from images in pipes using Generative Adversarial Network (GAN). A model that combines f-AnoGAN and Lightweight GAN is used to detect anomalies by taking the difference between input images and generated images. Since the GANs are only trained with non-defective images, they are able to convert an image containing defects into one without them. Subtraction images is used to estimate the location of anomalies. Experiments were conducted using actual images of cast iron pipes to confirm the effectiveness of the proposed method. It was also validated using sewer-ml, a public dataset.

    DOI: 10.1186/s40648-023-00246-y

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    Other Link: https://link.springer.com/article/10.1186/s40648-023-00246-y/fulltext.html

  • Vision-based Picking-Up Control by Robotic Grippers with Belts Reviewed

    Yuzuka Isobe, Sarthak Pathak, Kazunori Umeda, Yusuke Hashimoto, Yoshinari Matsuyama, Taku Matsuda, Yu Kaneda, Hiroki Ikeuchi, Kenjiro Tadakuma

    Journal of the Robotics Society of Japan   41 ( 2 )   187 - 197   2023.3

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.41.187

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  • Estimation of Road Surface Shape and Object Height Focusing on the Division Scale in Disparity Image Using Fisheye Stereo Camera Reviewed

    Tomoyu Sakuda, Kento Arai, Sarthak Pathak, Kazunori Umeda

    2023 IEEE/SICE International Symposium on System Integration (SII)   2023.1

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    Authorship:Last author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/sii55687.2023.10039474

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  • Localization of Mobile Robot by Particle Filter Considering Shape Information of Environment and Location of Water Puddles Reviewed

    Isao Tadokoro, Ryosuke Kataoka, Ryuki Suzuki, Yonghoon Ji, Kazunori Umeda

    2023 IEEE/SICE International Symposium on System Integration (SII)   2023.1

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    Authorship:Last author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/sii55687.2023.10039364

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  • Camera-based Progress Estimation of Assembly Work Using Deep Metric Learning Reviewed

    Takumi Kitsukawa, Sarthak Pathak, Alessandro Moro, Yoshihiro Harada, Hideo Nishikawa, Minori Noguchi, Akifumi Hamaya, Kazunori Umeda

    2023 IEEE/SICE International Symposium on System Integration (SII)   2023.1

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    DOI: 10.1109/sii55687.2023.10039109

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  • PointpartNet++: Accuracy Improvement of 3D Point-Cloud Registration via Determination of Corresponding Points Reviewed

    Shixun YAN, Sarthak PATHAK, Kazunori UMEDA

    Journal of the Japan Society for Precision Engineering   89 ( 1 )   90 - 98   2023.1

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    Authorship:Last author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Japan Society for Precision Engineering  

    DOI: 10.2493/jjspe.89.90

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  • Improving The Accuracy of Visual Localization for UAV Using Satellite Imagery by Semantic Segmentation

    TOKUONO Riku, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023   2P2-F22   2023

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper, we propose a method to accurately estimate the position of a UAV on satellite images by using the region information of buildings extracted by semantic segmentation for UAV pose estimation. The localization of UAV using satellite images is based on the similarity between images features using intensity information. However, the estimation accuracy of intensity information alone is degraded by changes in the seasons and moving objects. Therefore, in addition to the intensity information, the proposed meathod uses information on building areas extracted by semantic segmentation from overhead images to improve the accuracy of position estimation.

    DOI: 10.1299/jsmermd.2023.2p2-f22

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  • Construction of a Camera-Based System for Controlling Home Application via Arm Pointing

    YOKOTA Masae, MAJIMA Soichiro, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023   2P1-D03   2023

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Recently, in addition to the use of remote controllers and voice recognition, gesture-based methods have been studied as a way to operate home appliances. In this research, we construct an intuitive system in which home appliances are selected and operated via arm pointing. The conventional method uses 3D information of home appliances prepared in advance, but our proposed system can handle home appliances from only image without requiring their positions in advance. We conducted an evaluation experiment of the proposed system and obtained a high gesture recognition rate. In addition, a usability study also indicated good results for real world use.

    DOI: 10.1299/jsmermd.2023.2p1-d03

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  • Multi-User Home Appliance Operation System via Individual Command Spaces

    MAJIMA Soichiro, YOKOTA Masae, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023   2P2-D03   2023

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    This study proposes a gesture-based home appliance operation system that can support multiple users. In recent years, increasing complexity of home appliances has led to interest in gesture-based operation. Many systems have been developed to operate home appliances by recognizing gestures from camera images. However, conventional systems require an operator to memorize a large number of gestures and have problems of misoperation. To solve these problems, the proposed system introduces an operator specific command space and a start gesture. The effectiveness of the proposed system was verified by experiments, with an average recognition rate of around 95 %. This ensures that the system can be used by multiple operators.

    DOI: 10.1299/jsmermd.2023.2p2-d03

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  • Grasping of Brittle/Deformable Food Using Image Feedback Control with an Underactuated Hand

    KAI Ryogo, ISOBE Yuzuka, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023   2P2-D23   2023

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper, we propose an image feedback control for an underactuated hand to grasp brittle/deformable food without damaging it. Automation using robots in food factories are being promoted to compensate labor shortages and improve productivity. Since food products vary in shape and hardness and are difficult to be grasped by conventional robots, robot hands that conform to the shape of the object have been developed. In this research, we aimed to control an underactuated hand by using a monocular camera, without sensor or marker. In our method, we detect the deformation of the object using optical flow, adjust appropriate grasping force using area information of robot hand, and detect the grasping state using the relative displacement of the object and the hand. Through the experiments, twelve types of real foods were successfully grasped without dropping and without damaging expect two foods.

    DOI: 10.1299/jsmermd.2023.2p2-d23

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  • Obstacle Detection and Height Estimation Using Disparity and Intensity Information with a Fish-eye Stereo Camera

    CHIKUGO Hikaru, ARAI Kento, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023   2A1-D07   2023

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper, we propose a method for obstacle detection and height estimation using a fish-eye stereo camera. Disparity and intensity information is used. The method using only disparity information may incorrectly detect road surface as obstacles. Therefore, we obtain the intensity of the road surface by using the obstacle information obtained from the disparity and compare the intensity throughout the entire image to detect obstacles. Experiments show that the proposed method using the disparity and intensity information can detect only obstacles without detecting the road surface as obstacles. Experiments also show an improvement in the accuracy of height estimation.

    DOI: 10.1299/jsmermd.2023.2a1-d07

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  • Improvement of measurement method for compact range image sensor using disparity and blur of multi-slit laser

    TOYOSHIMA Ryutaro, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023   1A2-G27   2023

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper, we propose an improved distance measurement method using blur for 3D measurement. Stereo disparity is often used for 3D measurement, but when a target object is too close to the sensor, it cannot be obtained properly. To solve this problem, we develop a compact range image sensor capable of close-range measurement focusing on the amount of blur using a multi-slit laser and a camera.

    DOI: 10.1299/jsmermd.2023.1a2-g27

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  • A teaching system of archery shooting using 3D pose estimation by deep learning

    MICHIWAKI Takuma, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2023   1A2-F07   2023

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    Archery is a sport in which it is important to repeat the same shooting form and to improve its repeatability. For this reason, it is essential to understand and master the basic shooting form. However, there is a shortage of instructors, and in university club activities, the burden of teaching is placed on the senior students. A possible solution to this problem is the use of a practice support system based on sports video analysis, but existing systems have a fixed positional relationship between the camera and the person to be measured, and it is necessary to create the same environment each time the system is used. Therefore, this study proposes a sports practice support system that uses 3D skeletal point information extracted from video images to evaluate the learner’s shooting style in terms of points, eliminating the need to fix the positional relationship between the camera and the learner and allowing easy recognition of points that need improvement.

    DOI: 10.1299/jsmermd.2023.1a2-f07

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  • Improving Multi-sensor Point Cloud Fusion via Color Information and Point Cloud Partitioning Reviewed

    Shixun Yan, Sarthak Pathak, Kazunori Umeda

    Proc. of 19th International Conference on Precision Engineering (ICPE2022)   C155   2022.11

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  • Accurate All-round 3D Measurement from Trinocular 360-degree Stereo Cameras via Geometric Optimization of Image Texture and Color Reviewed

    Takumi Hamada, Sarthak Pathak, Kazunori Umeda

    9th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2022)   OR-02-0232   2022.11

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  • PointpartNet: 3D point-cloud registration via deep part-based feature extraction Reviewed

    Shixun Yan, Sarthak Pathak, Kazunori Umeda

    Advanced Robotics   36 ( 15 )   724 - 734   2022.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Taylor & Francis  

    DOI: 10.1080/01691864.2022.2084346

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  • 2台のカメラを用いた骨格抽出による移動ロボットの3次元人物追跡-追跡復帰機能による人物追跡のロバスト化- Reviewed

    松原 慎也, 池 勇勳, 梅田 和昇

    精密工学会誌   88 ( 3 )   276 - 281   2022.3

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    DOI: 10.2493/jjspe.88.276

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  • Unsupervised Video Anomaly Detection in Traffic and Crowded Scenes Reviewed

    Satoshi Hashimoto, Alessandro Moro, Kenichi Kudo, Takayuki Takahashi, Kazunori Umeda

    Proc. of 2022 IEEE/SICE International Symposium on System Integration (SII2022)   870 - 876   2022.1

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    DOI: 10.1109/SII52469.2022.9708745

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  • Fast 3D Object Detection with RGB-D Images Using Graph Convolutional Network Reviewed

    Masahiro Takahashi, Takumi Kitsukawa, Alessandro Moro, Kazunori Umeda

    Proc. of 2022 IEEE/SICE International Symposium on System Integration (SII2022)   395 - 400   2022.1

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    DOI: 10.1109/SII52469.2022.9708600

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  • A Recognition System of AR Markers Attached to Carts in a Factory Reviewed

    Takumi Kitsukawa, Masahiro Takahashi, Alessandro Moro, Yoshihiro Harada, Hideo Nishikawa, Minori Noguchi, Akifumi Hamaya, Kazunori Umeda

    Proc. of 2022 IEEE/SICE International Symposium on System Integration (SII2022)   608 - 613   2022.1

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/SII52469.2022.9708838

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  • Indoor SLAM based online observation probability using a hand drawn map Reviewed

    Ryuki Suzuki, Yonghoon Ji, Sarthak Pathak, Kazunori Umeda

    Proc. of 2022 IEEE/SICE International Symposium on System Integration (SII2022)   695 - 698   2022.1

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/SII52469.2022.9708610

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  • 時空間敵対的生成ネットワークにおけるU-Net Discriminatorの中間層特徴の融合による動画像異常検知 Reviewed

    橋本 慧志, 工藤 謙一, 高橋 孝幸, 梅田 和昇

    精密工学会誌   87 ( 12 )   959 - 964   2021.12

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

    DOI: 10.2493/jjspe.87.959

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  • Detection of Rust from Images in Pipes Using Deep Learning Reviewed

    Akira Oyama, Hiroto Sato, Kaito Kosuge, Kosuke Uchiyama, Taro Nakamura, Kazunori Umeda

    Proc. of 2021 18th International Conference on Ubiquitous Robots (UR)   476 - 479   2021.7

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/UR52253.2021.9494671

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  • Tiny range image sensors using multiple laser lights for short distance measurement Reviewed

    Tomoaki Fukuda, Yonghoon Ji, Kazunori Umeda

    Proc. of SPIE Vol. 11794, Fifteenth International Conference on Quality Control by Artificial Vision (QCAV2021)   117940F   2021.7

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:SPIE  

    DOI: 10.1117/12.2589196

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  • Estimating deformation of pipe from its internal image Reviewed

    Kaito Kosuge, Akira Oyama, Hiroto Sato, Kosuke Uchiyama, Taro Nakamura, Kazunori Umeda

    Proc. of the 7th International Conference on Advanced Mechatronics (ICAM2021)   2021   108 - 109   2021.7

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:The Japan Society of Mechanical Engineers  

    In recent years, the number of pipes that have exceeded their service life has been increasing. Thus, regular inspection of the pipes is required. In particular, a flexible pipe made of vinyl chloride shows its unique degradation, such as oblatening. In this paper, we propose a method of estimating the degree of oblatening of a pipe from its internal image captured by an earthworm robot. Covariance matrix of the image is used to obtain the degree of oblatening.

    DOI: 10.1299/jsmermd.2021.2p2-h14

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  • Performance Improvement of SLAM Based on Global Registration Using LiDAR Intensity and Measurement Data of Puddle Reviewed

    Ryosuke Kataoka, Isao Tadokoro, Yonghoon Ji, Hiromitsu Fujii, Hitoshi Kono, Kazunori Umeda

    Proc. of 2021 18th International Conference on Ubiquitous Robots (UR)   553 - 556   2021.7

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/UR52253.2021.9494671

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  • 任意の位置での簡単なジェスチャによる家電操作システム Reviewed

    顔 世荀, 池 勇勳, 梅田 和昇

    日本機械学会論文集   87 ( 898 )   20-00310   2021.5

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    DOI: 10.1299/transjsme.20-00310

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  • Online Measurement of Compact Range Image Sensor Using Image Blur of Multi-Slit Laser Reviewed

    Karin Ohashi, Kazuki Tsumura, Yonghoon Ji, Kazunori Umeda

    Proc. of 2021 IEEE/SICE International Symposium on System Integration (SII2021)   825 - 826   2021.1

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  • ICP-based SLAM Using LiDAR Intensity and Near-infrared Data Reviewed

    Ryosuke Kataoka, Ryuki Suzuki, Yonghoon Ji, Hiromitsu Fujii, Hitoshi Kono, Kazunori Umeda

    Proc. of 2021 IEEE/SICE International Symposium on System Integration (SII2021)   100 - 104   2021.1

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    DOI: 10.1109/ieeeconf49454.2021.9382647

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  • Expandable YOLO: 3D Object Detection from RGB-D Images Reviewed

    Masahiro Takahashi, Yonghoon Ji, Kazunori Umeda, Alessandro Moro

    Proc. of 2020 21st International Conference on Research and Education in Mechatronics (REM)   2020.12

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    DOI: 10.1109/REM49740.2020.9313886

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  • 擬似バイラテラルフィルタによる魚眼ステレオカメラの性能向上 Reviewed

    飯田 浩貴, 佐久田 朝優, 池 勇勳, 梅田 和昇, 大橋 明, 福田 大輔, 金子 修造, 村山 純哉

    精密工学会誌   86 ( 12 )   969 - 974   2020.12

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    DOI: 10.2493/jjspe.86.969

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  • Three-dimensional Human Tracking of a Mobile Robot by Fusion of Tracking Results of Two Cameras Reviewed

    Shinya Matsubara, Akihiko Honda, Yonghoon Ji, Kazunori Umeda

    Proc. of 2020 21st International Conference on Research and Education in Mechatronics (REM)   2020.12

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    DOI: 10.1109/REM49740.2020.9313929

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  • SLAM using ICP and graph optimization considering physical properties of environment Reviewed

    Ryuki Suzuki, Ryosuke Kataoka, Yonghoon Ji, Kazunori Umeda, Hiromitsu Fujii, Hitoshi Kono

    Proc. of 2020 21st International Conference on Research and Education in Mechatronics (REM)   2020.12

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    DOI: 10.1109/REM49740.2020.9313074

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  • Stereo Measurement of Cross-Sectional Shape of Weld Beads by Marking Reviewed

    Mitsuaki Yoshimura, YongHoon Ji, Kazunori Umeda

    Proc. of 18th International Conference on Precision Engineering (ICPE2020)   D-4-5   2020.11

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  • Accuracy Improvement of Fisheye Stereo Camera by Combining Multiple Disparity Offset Maps Reviewed

    Jiayi Ling, Tomoyuu Sakuda, Hirotaka Iida, Yonghoon Ji, Kazunori Umeda, Akira Ohashi, Daisuke Fukuda, Shuzo Kaneko, Junya Murayama

    Proc. of 2020 17th International Conference on Ubiquitous Robots (UR)   387 - 390   2020.6

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    DOI: 10.1109/UR49135.2020.9144873

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  • A System for Operating Home Appliances with Hand Positioning in a User-definable Command Space Reviewed

    Shixun Yan, Yonghoon Ji, Kazunori Umeda

    Proc. of 2020 IEEE/SICE International Symposium on System Integration (SII2020)   366 - 370   2020.1

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    DOI: 10.1109/SII46433.2020.9025978

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  • Measurement range expansion of a range image sensor using a multi-slit laser projector Reviewed

    Naho Fujii, Yonghoon Ji, Kazunori Umeda

    Proc. of 2020 IEEE/SICE International Symposium on System Integration (SII2020)   139 - 143   2020.1

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    DOI: 10.1109/SII46433.2020.9026287

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  • High-accuracy Range Image Generation by Fusing Binocular and Motion Stereo Using Fisheye Stereo Camera Reviewed

    Hirotaka Iida, Yonghoon Ji, Kazunori Umeda, Akira Ohashi, Daisuke Fukuda, Shuzo Kaneko, Junya Murayama, Yoshitaka Uchida

    Proc. of 2020 IEEE/SICE International Symposium on System Integration (SII2020)   343 - 348   2020.1

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    DOI: 10.1109/SII46433.2020.9025910

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  • Three-dimensional mapping of pipeline from inside images using earthworm robot equipped with camera

    Akira Oyama, Hirotaka Iida, Yonghoon Ji, Kazunori Umeda, Yuki Mano, Takumi Yasui, Taro Nakamura

    IFAC-PapersOnLine   52   87 - 90   2019.10

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    Copyright © 2019. The Authors. Published by Elsevier Ltd. All rights reserved. In this paper, we propose a method to generate a 3D map in the narrow pipeline from inside images captured from a camera mounted on earthworm robot. Pipes that have reached the end of their useful life cause leaks and pits in the road; thus, it is necessary to inspect the inside of the pipe. In order to inspect the inside of the pipe, images in the pipeline are converted to development images and motion estimation of the camera is performed using the optical flow. Finally, the development images are connected to generate a 3D map.

    DOI: 10.1016/j.ifacol.2019.11.053

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  • Smooth Motion Control of Mobile Robot in Human-robot Coexisting Environment Reviewed

    Ryosuke Kataoka, Shota Suzuki, Yonghoon Ji, Kazunori Umeda

    IFAC-PapersOnline   52 ( 22 )   91 - 94   2019.9

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  • マルチスリット光を用いたロボットハンドに利用可能な近距離計測用小型距離画像センサの構築 Reviewed

    福田 智章, 池 勇勳, 梅田 和昇

    日本機械学会論文集   85 ( 877 )   19-00087   2019.9

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    DOI: 10.1299/transjsme.19-00087

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  • Shape Reconstruction Using a Mirror with a Range Image Sensor – Detection of Mirror in a Range Image Reviewed

    Hayata Masumura, Yonghoon Ji, Kazunori Umeda

    Proc. of the Seventh Asia International Symposium on Mechatronics (AISM2019)   994 - 1000   2019.9

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    DOI: 10.1007/978-981-32-9441-7_103

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  • 魚眼ステレオカメラの2眼ステレオとモーションステレオの融合による距離画像計測 Reviewed

    飯田 浩貴, 池 勇勳, 梅田 和昇, 大橋 明, 福田 大輔, 金子 修造, 村山 純哉, 内田 吉孝

    日本機械学会論文集   85 ( 875 )   19-00069   2019.7

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    DOI: 10.1299/transjsme.19-00069

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  • Automatic camera pose estimation based on a flat surface map Reviewed

    Yonghoon Ji, Atsushi Yamashita, Kazunori Umeda, Hajime Asama

    roc. of SPIE Vol.11172, Fourteenth International Conference on Quality Control by Artificial Vision (QCAV2019)   111720X   2019.5

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  • A system for home appliance operation by hand waving in a user-definable command space Reviewed

    Shixun Yan, Yonghoon Ji, Kazunori Umeda

    roc. of SPIE Vol.11172, Fourteenth International Conference on Quality Control by Artificial Vision (QCAV2019)   1117214   2019.5

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  • カメラの回転を利用した魚眼カメラの内部パラメータ推定の高精度化 Reviewed

    菱木 暁彦, 梅田 和昇

    精密工学会誌   84 ( 12 )   2018.12

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  • 視差オフセットマップによる魚眼ステレオカメラの高精度化 Reviewed

    山野 史登, 飯田 浩貴, 梅田 和昇, 大橋 明, 福田 大輔, 金子 修造, 村山 純哉, 内田 吉孝

    精密工学会誌   84 ( 12 )   2018.12

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  • Hand waving in command spaces: a framework for operating home appliances Reviewed

    Takumi Kano, Takuya Kawamura, Hidetsugu Asano, Takeshi Nagayasu, Kazunori Umeda

    Advanced Robotics   32 ( 18 )   2018.10

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  • Accurate Range Image Generation Using Sensor Fusion of TOF and Stereo-based Measurement Reviewed

    Tomoaki Fukuda, Yonghoon Ji, Kazunori Umeda

    Proc. 12th France-Japan and 10th Europe-Asia Congress on Mechatronics   61 - 64   2018.9

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  • Improving the accuracy of a fisheye stereo camera with a disparity offset map Reviewed

    Fumito Yamano, Hirotaka Iida, Kazunori Umeda, Akira Ohashi, Daisuke Fukuda, Shuzo Kaneko, Junya Murayama, Yoshitaka Uchida

    Proc. 12th France-Japan and 10th Europe-Asia Congress on Mechatronics   88 - 91   2018.9

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  • A Framework for Human Recognition and Counting in Restricted Area for Video Surveillance Reviewed

    Alessandro Moro, Jun Wakabayashi, Tetsuro Toda, Kazunori Umeda

    Workshop Proceedings of the 14th International Conference on Intelligent Environments (IE’18)   139 - 148   2018.6

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  • A Terrain Slope Estimation Scheme using Infrared Camera for Planetary Exploration Rovers Reviewed

    Satoshi Watanabe, Kyohei Otsu, Masatsugu Otsuki, Takashi Kubota, Gakuto Masuyama, Kazunori Umeda

    2018 IEEE Aerospace Conference   2018.3

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    Planetary exploration rovers face severe energy and safety restrictions, which have a strong connection with terrain slopes. During a steep slope traverse, a rover consumes more power and is exposed to higher risks of getting stuck or of overturning. It is essential for a rover to autonomously recognize and avoid steep slopes for efficient and safe operations. Existing techniques (e.g. stereo vision) do not completely address challenges in planetary exploration, such as low-textured terrain appearance and computational resource limitations. This paper presents a novel slope estimation method using a monocular infrared camera. The proposed method estimates slope normals based on surface temperatures on two different slopes. The surface energy model is employed to correlate thermal properties to geometrical properties of the terrain. The idea behind this approach is that the solar radiation, which is a major energy source for terrains, can differ by time, slope angles and directions. The difference in energy input generates the gap of surface temperatures between target and reference surfaces, which can be remotely detected with an infrared camera. The proposed method avoids the problem of terrain appearance as it only uses temperature measurements, and is also computationally efficient thanks to efficient preprocessing. The algorithm is validated through simulations and outdoor experiments. The results show the effectiveness of the proposed scheme to estimate terrain slope normals solely from temperature measurements.

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  • Occlusion handling for a target-tracking robot with a stereo camera Reviewed

    Yuzuka Isobe, Gakuto Masuyama, Kazunori Umeda

    Robomech Journal   5 ( 4 )   2018.3

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  • Measurement of Planar Clothes Using Level Set Method for Automatic Inspection Reviewed

    Kyohei Takahashi, Gakuto Masuyama, Kazunori Umeda, Toshiaki Osada, Kazuo Furushima

    International Workshop on Advanced Image Technology 2018 (IWAIT2018)   2018.1

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  • 正距円筒画像への変換を用いた魚眼ステレオカメラの構築 Reviewed

    大橋 明, 山野史登, 増山岳人, 梅田和昇, 福田大輔, 入江耕太, 金子修造, 村山純哉, 内田吉孝

    精密工学会誌   83 ( 12 )   1095 - 1100   2017.12

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    This paper proposes a stereo camera using two fisheye cameras. The measurement range of the stereo camera is increased by using fisheye cameras. Fisheye images are deformed by using an equirectangular projection to simplify the stereo correspondence search in the images. Stereo images are rectified to correct the influence of external parameters between a left camera and a right camera. Rectification parameters are estimated from feature points obtained from an image of an arbitrary environment. Errors due to deviation of the position and rotation of the left and right cameras are removed by the stereo rectification. The corresponding points are calculated by using stereo matching in the deformed image, and the distance is measured from the disparity. The performance of the fisheye stereo camera using equirectangular images is evaluated by simulations and experiments.

    DOI: 10.2493/jjspe.83.1095

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  • Fisheye Camera’s Intrinsic Parameter Estimation Using Trajectories of Feature Points Obtained from Camera Rotation Reviewed

    Akihiko Hishigi, Yuki Tanaka, Gakuto Masuyama, Kazunori Umeda

    Proc. of 2017 IEEE/SICE International Symposium on System Integration (SII2017)   529 - 534   2017.12

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  • Stereo Rectification for Equirectangular Images Reviewed

    Akira Ohashi, Fumito Yamano, Gakuto Masuyama, Kazunori Umeda, Daisuke Fukuda, Kota Irie, Shuzo Kaneko, Junya Murayama, Yoshitaka Uchida

    Proc. of 2017 IEEE/SICE International Symposium on System Integration (SII2017)   535 - 540   2017.12

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  • Measurement of planar clothes by image processing for automatic inspection Reviewed

    Kyohei Takahashi, Gakuto Masuyama, Kazunori Umeda, Toshiaki Osada, Kazuo Furushima

    Proc. of the Sixth Asia International Symposium on Mechatronics (AISM2017)   2017   D1 - 6   2017.9

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    DOI: 10.11522/pscjspe.2017S.0_55

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  • Moving Object Detection Using a Stereo Camera Mounted on a Moving Platform Reviewed

    Tetsuro TODA, Gakuto MASUYAMA, Kazunori UMEDA

    SICE Journal of Control, Measurement, and System Integration (SICE JCMSI)   10 ( 344-349 )   344 - 349   2017.9

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:The Society of Instrument and Control Engineers  

    In this paper, we propose a method for detecting moving objects using a moving stereo camera. First, the camera motion parameters are estimated by using optical flow with a stereo camera. Second, the optical flow occurring in the background is removed. Finally, moving objects are detected individually by labeling the remaining optical flow. The proposed method is evaluated through experiments using two pedestrians in an indoor environment.

    DOI: 10.9746/jcmsi.10.344

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  • Complementary human detection and multiple feature based tracking using a stereo camera Reviewed

    Gakuto Masuyama, Takehiro Kawashita, Kazunori Umeda

    ROBOMECH Journal   4 ( 24 )   2017.9

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  • Apprenticeship Learning in an Incompatible Feature Space Reviewed

    Gakuto Masuyama, Kazunori Umeda

    Proc. of 2017 IEEE International Conference on Robotics and Automation (ICRA2017)   932 - 938   2017.5

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  • Collaboration between Kansei Affective Engineering and Artificial Intelligence Technology : Interdisciplinary Issues on Social Implementation of New Technologies

    15 ( 1 )   32 - 35   2017.5

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  • Self-generation of trajectories via dynamic programming for score-based inverse reinforcement learning

    WATANABE Natsumi, MASUYAMA Gakuto, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2P2 - E05   2017

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    <p>This paper presents a generation method of trajectories for score-based inverse reinforcement learning. While most inverse reinforcement learning methods require demonstrations of the expert, score-based inverse reinforcement learning can estimate the expert's reward function from scores of arbitrary trajectories. This study brings active learning into score-based inverse reinforcement learning to estimate a reward function from few trajectories. An agent generates informative trajectories for reward estimation and pose them as queries to the expert. The proposed method generates the trajectories using expectation of discounted accrued features which is calculated by dynamic programming. The informativeness of the trajectories is evaluated by criteria for queries. Simulation results in a cart-pole domain demonstrate that the proposed method efficiently estimates the reward function from few trajectories.</p>

    DOI: 10.1299/jsmermd.2017.2P2-E05

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  • マルチスリットレーザプロジェクタを用いた小型距離画像センサにおけるスリット像のぼけを利用した距離画像計測

    徳王 耀介, 木村 優志, 増山 岳人, 梅田 和昇

    精密工学会学術講演会講演論文集   2017   53 - 54   2017

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    Language:Japanese   Publisher:公益社団法人 精密工学会  

    ロボットハンドが物体を認識・把持するために,ロボットハンドに取り付け可能なマルチスリットレーザプロジェクタを用いた小型距離画像センサの開発を目的とする.従来センサの計測範囲は100~300mmである.本研究では,レーザ光のぼけを計測しガウス分布に近似する手法で50~100mmでの距離情報の取得を可能とした.また,実験で距離を計測し,誤差評価を行った.

    DOI: 10.11522/pscjspe.2017S.0_53

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  • Estimation of extrinsic parameters of multiple fish-eye cameras using calibration markers Reviewed

    Hiroya Okamoto, Yuki Tanaka, Akihiko Hishigi, Abdelaziz Khiat, Noriko Shimomura, Gakuto Masuyama, Kazunori Umeda

    THIRTEENTH INTERNATIONAL CONFERENCE ON QUALITY CONTROL BY ARTIFICIAL VISION 2017   10338   103380B   2017

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    This paper introduces a simultaneous estimation method of the extrinsic parameters of multiple fish-eye cameras using simple calibration markers. Precise extrinsic parameters of cameras mounted on a car are important, for example, to provide a seamless overhead view image to the driver. Calibration markers are set in the area that are observable from adjacent two cameras. Extrinsic parameters of each camera are estimated individually and then combined and refined using a geometric constraint. Cube markers are chosen as the calibration markers. The method is evaluated by simulation and experiments using a real car. It is shown that extrinsic parameters are obtained by the proposed method and suggested that the errors of intrinsic parameters affect the estimation of extrinsic parameters.

    DOI: 10.1117/12.2266999

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  • Three-dimensional mapping by direct estimation of a small motion using range image sensor with multi-slit laser projector

    KIMURA Masashi, MASUYAMA Gakuto, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2A2 - N10   2017

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    <p>In this paper, a three-dimensional (3D) mapping method is proposed using a range image sensor with a multi-slit laser projector. Motion parameters of measurement points are directly estimated using range images and optical flow of color images. A 3D map is constructed by registration of range images between frames using the relationship of the range images and estimated motion parameters. In experiments, a 3D map is generated by the constructed sensor using the proposed method. The computational time of estimating the motion parameters and the accuracy of the map are verified.</p>

    DOI: 10.1299/jsmermd.2017.2A2-N10

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  • Development of Compact Range Image Sensor with Multi-Slit Laser Projector that Uses Disparity and Blur Reviewed

    Yi Feng, Ayase Itagaki, Gakuto Masuyama, Kazunori Umeda

    Proc. of 16th International Conference on Precision Engineering (ICPE2016)   2016.11

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  • High-speed Three-dimensional Mapping by Direct Estimation of a Small Motion Using Range Images Reviewed

    Shinta Nozaki, Masashi Kimura, Gakuto Masuyama, Kazunori Umeda

    Proc. 11th France-Japan and 9th Europe-Asia Congress on Mechatronics / 17th International Conference on Research and Education in Mechatronics   68 - 73   2016.6

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  • ステレオカメラを搭載した移動ロボットによる照明変動に頑健な追跡対象の認識 Reviewed

    磯邉 柚香, 増山 岳人, 梅田 和昇

    日本機械学会論文集   82 ( 834 )   2016.2

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    In this paper, we propose a target-tracking system for a mobile robot equipped with a stereo camera. Mobile service robots with the ability to track a specific person in dynamic environments have been required. In such environments, varying illumination and the presence of multiple people are challenges to carrying out target tracking. Color and location information is used for the targets features, that are useful for distinguishing a target from the other people. However, color information is not resilient to illumination changes. On the other hand, location information might be infeasible when non-target people present in the environments. Therefore, it is necessary to combine each information according to the situations, in which either information is infeasible to use as the feature. In order to make the system robust to varying illumination and presence of non-target people, a parameter of illumination changes is introduced in this paper. The parameter is defined using automatically adjusted white balance. The color and location features are weighted based on white-balance changes to determine a target. The effectiveness of the proposed system is verified through target-tracking experiments in outdoor environments. It is demonstrated that the proposed method can successfully recognize a target in the environments where the lighting condition changes extremely and non-target people present.

    DOI: 10.1299/transjsme.15-00368

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  • 距離画像とカラー画像を用いた微小運動の直接推定による三次元地図生成 Reviewed

    野﨑 慎太, 増山 岳人, 梅田 和昇

    日本機械学会論文集   82 ( 834 )   2016.2

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    In this paper, a high-speed three-dimensional map generation method using direct estimation of the motion parameters of the sensor is proposed. The method aligns range images between frames after estimating the motion parameters of the sensor using two kinds of information. One is the relationship of the range images and the motion parameters of a small motion. The other is the relationship of the intensity gradient information of the color images and the motion parameters. The method can create three-dimensional maps quickly because the method does not need to obtain the correspondences of features. Both the processing time required for the motion parameter estimation and the accuracy of the map are verified by experiments using a developed fast RGB-D sensor. It is also shown that the method is applicable to the Kinect sensor.

    DOI: 10.1299/transjsme.15-00367

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  • Automation of Initial Alignment in 2D/3D Registration using Structure from Motion Reviewed

    Tomoya Ozaki, Gakuto Masuyama, Kazunori Umeda, Guy Godin

    2016 International Workshop On Advanced Image Technology (IWAIT2016)   1B - 6   2016.1

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  • 視差とぼけ計測とを組み合わせたマルチスリットレーザプロジェクタを用いた距離画像センサの構築

    馮 益, 増山 岳人, 梅田 和昇

    精密工学会学術講演会講演論文集   2016   163 - 164   2016

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    マルチスリット光を照射するレーザプロジェクタとCMOSカメラを組み合わせた超小型距離画像センサを構築し,視差とスリット光像のぼけ計測との2つの手法を用いることで,より広い測定範囲で利用可能なロボットハンドの指先などに搭載するシステムを提案している.

    DOI: 10.11522/pscjspe.2016S.0_163

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  • Fisheye stereo camera using equirectangular images Reviewed

    Akira Ohashi, Yuki Tanaka, Gakuto Masuyama, Kazunori Umeda, Daisuke Fukuda, Takehito Ogata, Tatsurou Narita, Shuzo Kaneko, Yoshitaka Uchida, Kota Irie

    2016 11TH FRANCE-JAPAN & 9TH EUROPE-ASIA CONGRESS ON MECHATRONICS (MECATRONICS) / 17TH INTERNATIONAL CONFERENCE ON RESEARCH AND EDUCATION IN MECHATRONICS (REM)   284 - 289   2016

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    This paper proposes making a stereo camera using two fisheye cameras. The measurement range of the stereo camera is increased by using fisheye cameras. Fisheye images are deformed by using an equirectangular projection to simplify the stereo correspondence search in the images. Perspective transformation is applied to images so that feature points of far objects coincide in the images of the two cameras in order to remove mismatches due to the errors of intrinsic and extrinsic parameters. The corresponding points are calculated by using stereo matching in the deformed image, and the distance is measured from the disparity. The accuracy of the constructed stereo camera's distance measuring is evaluated by experiments. The performance of the constructed stereo camera is evaluated by indoor and outdoor experiments.

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  • Detecting Moving Objects Using Optical Flow with a Moving Stereo Camera Reviewed

    Tatsuro Toda, Gakuto Masuyama, Kazunori Umeda

    ADJUNCT PROCEEDINGS OF THE 13TH INTERNATIONAL CONFERENCE ON MOBILE AND UBIQUITOUS SYSTEMS: COMPUTING NETWORKING AND SERVICES (MOBIQUITOUS 2016)   35 - 40   2016

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    The detection of moving objects has become an important field of research for mobile robots. It is difficult to detect moving objects from a moving camera because moving objects and the background can appear to move. This paper proposes a method for detecting moving objects using a moving stereo camera. First, the camera motion parameters are estimated by using optical flow with a stereo camera. Second, the optical flow occurring in the background is removed. Finally, moving objects are detected individually by labeling the remaining optical flow. The proposed method has been evaluated through experiments using two pedestrians in an indoor environment.

    DOI: 10.1145/3004010.3004016

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  • Three-dimensional mapping by direct estimation of a small motion using range images and optical flow of color images Reviewed

    Masashi Kimura, Gakuto Masuyama, Kazunori Umeda

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   756 - 761   2016

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    In this paper, a method that directly estimates motion parameters of a range image sensor using range images and optical flow of color images is proposed. Linear equations for motion parameters are introduced by utilizing optical flow. A three-dimensional (3D) map is constructed by registration of range images between frames using the estimated motion parameters. Experiments to construct a 3D map using the proposed method are given. In the experiments, the accuracy of the constructed map and the time of estimating the motion parameters are evaluated. It is shown that the proposed method can construct an accurate 3D map for several scenes and estimation time of motion parameters is less than 30 ms.

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  • Intrinsic parameter estimation of a fish-eye camera using trajectories of feature points when rotating the camera Reviewed

    Yuki Tanaka, Gakuto Masuyama, Kazunori Umeda

    Proc. of the 6th International Conference on Advanced Mechatronics (ICAM2015)   2015   133 - 134   2015.12

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    We propose a simple method to estimate fish-eye camera's intrinsic parameters without calibration targets. Our method takes advantage of trajectories of feature points in the scene. The trajectories of feature points are obtained by a rotation movement of the camera in a horizontal plane. We therefore can utilize rich feature points for calibration, and furthermore, specific calibration targets are not required. The validity of proposed method is verified by simulation experiments using artificial data.

    DOI: 10.1299/jsmeicam.2015.6.133

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  • Development of Miniature Range Image Sensor Using Multi-Slit Laser Projector and Endoscopy Camera Reviewed

    Yi Feng, Shinta Nozaki, Gakuto Masuyama, Kazunori Umeda

    Proc. of the 6th International Conference on Advanced Mechatronics (ICAM2015)   2015   92 - 93   2015.12

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    In this paper, development of a miniature size range image sensor is presented. The sensor is designed for a robot hand by using an endoscopy camera and a multi-slit laser projector, which can obtain range images. The improvements over the previous sensor are size, accessibility and measurement range in close distance. The dimension of the sensor is 16×40×53 mm and its weight is about 28 g. By using a universal webcam chip, the computer can capture the image data without the driver. The sensor can measure the distance from 50-150 mm. The effectiveness of the sensor is verified by experiments.

    DOI: 10.1299/jsmeicam.2015.6.92

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  • Discrimination of a Driver's State Using Face Tracking Reviewed

    Kyohei Takahashi, Gakuto Masuyama, Kazunori Umeda

    Proc. of the Fifth Asia International Symposium on Mechatronics (AISM2015)   97 - 101   2015.10

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  • Occlusion Handling for Target Tracking with a Mobile Robot Reviewed

    Yuzuka Isobe, Gakuto Masuyama, Kazunori Umeda

    Proc. of the Fifth Asia International Symposium on Mechatronics (AISM2015)   176 - 181   2015.10

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  • 校正マーカを用いた複数魚眼カメラの外部パラメータ推定 Reviewed

    岡本 寛也, 田中 祐輝, Abdelaziz Khiat, 下村 倫子, 増山 岳人, 梅田 和昇

    精密工学会誌   81 ( 2 )   164 - 169   2015.2

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    There is a need for precise extrinsic parameters of vehicle mounted cameras in order to provide a good overhead view image to the driver. In this paper, we propose a simultaneous estimation of the extrinsic parameters of multiple fish-eye cameras using simple calibration targets. The proposed method estimates the parameters directly from the fish-eye images, giving more accurate results in comparison with a previous method that uses perspective projection converted images. Moreover, this method allows parameter estimation by simply arranging calibration targets anywhere around the vehicle. We conducted two experiments to quantitatively evaluate the estimation accuracy of the proposed method. In each experiment, two cases have been considered. In one case (the known case), targets' position were known beforehand. In the other case (the unknown case), targets' positions were unknown beforehand. In each experiment, the estimation error for the unknown case was 4-5 times bigger than the known case. In a simulation experiment, we compared the estimation accuracy of different target shapes, in order to identify the optimal shape of the target. The cubic shape turned out to be the most appropriate.

    DOI: 10.2493/jjspe.81.164

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  • ステレオカメラを用いた簡易な人流計測システムの構築 Reviewed

    川下 雄大, 柴田 雅聡, 増山 岳人, 梅田 和昇

    精密工学会誌   81 ( 2 )   149 - 155   2015.2

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    In this paper, a system for measuring flow of pedestrians using a stereo camera is proposed. The system does not need adjustment after installation and its installation environment is not restricted. The proposed method consists of two stages, i.e., estimation process and measurement process. Estimation process automatically estimates parameters that are typically adjusted manually after installation by using images and distance information obtained from a stereo camera. Measurement process measures flow of pedestrians using one of the two methods, i.e., particle filter and a method using KLT and Voronoi. The selection is performed depending on the congestion level of the pedestrians. The proposed method is evaluated through experiments for four scenes that are typical in real operation.

    DOI: 10.2493/jjspe.81.149

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  • Target Tracking for a Mobile Robot with a Stereo Camera Considering Illumination Changes Reviewed

    Yuzuka Isobe, Gakuto Masuyama, Kazunori Umeda

    2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   702 - 707   2015

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    Tracking a specific person in dynamic environments is a fundamental task of mobile service robots. Image information is essential to identify a target person, however, the information is not reliable under varying illumination. In this paper, we propose a target-tracking system using a stereo camera. Color and location information is used for the target's feature, which is useful to distinguish a target from the other people. An evaluation value to identify a target is defined as weighted sum of the color and location features. The weight to the features is derived from a parameter of illumination changes. The parameter of illumination changes provides the system with capability of robust tracking even under varying illumination. We confirmed robustness of the proposed system through target-tracking experiments in outdoor environment where the lighting condition changes extremely.

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  • Variation of Edge Detection Uncertainty on Fish-Eye Images Reviewed

    Kenji Terabayashi, Takaaki Oiwa, Kazunori Umeda

    2015 21ST KOREA-JAPAN JOINT WORKSHOP ON FRONTIERS OF COMPUTER VISION   2015

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    This paper reports that uncertainty of detected edges on a fish-eye image depends on the direction to observe the edges. In fish-eye cameras, dimensions of observation space corresponding to a pixel greatly change with the pixel location. This dimension is defined as "spatial uncertainty" in this paper and formulated with typical projection models of fish-eye cameras. Experimental results showed that the uncertainty of edge detection on fish-eye images increased with increase of the spatial uncertainty.

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  • Effective and Efficient Moving Object Segmentation via An Innovative Statistical Approach Reviewed

    Alfredo Cuzzocrea, Enzo Mumolo, Alessandro Moro, Kazunori Umeda

    2015 9TH INTERNATIONAL CONFERENCE ON COMPLEX, INTELLIGENT, AND SOFTWARE INTENSIVE SYSTEMS CISIS 2015   172 - 178   2015

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    This paper deals with the background maintenance problem and proposes a novel pixel-wise solution. The proposed backgroud maintenance algorithm is histogram-based. The algorithm has the following main features: fast background initialization, high accuracy in describing the real background and fast reaction to sudden changes. The basic idea of our algorithm is that the pixels are updated only if a statistic measure on the intensity variations of each pixels is greater to an adaptive threshold, thus reducing the I/O channel occupation. Experimental results on dynamic scenes taken from a fixed camera show that the proposed algorithm produces background images with an improved quality with respect to classical pixel-wise algorithms.

    DOI: 10.1109/CISIS.2015.23

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  • Apprenticeship Learning Based on Inconsistent Demonstrations Reviewed

    Gakuto Masuyama, Kazunori Umeda

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   5273 - 5278   2015

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    Apprenticeship learning based on inconsistent demonstrations is presented in this paper. We address a problem where given demonstrations are not directly applicable to reward function estimation due to the non-stationarity of an environment or the difference between the dynamics of a robot and a demonstrator. A basic idea of the proposed method is to use a subset of the trajectories sampled from the baseline policy as training data for inverse reinforcement learning. All consistent sample trajectories and inconsistent demonstrations are abstracted by an affine transformation invariant feature. Using the feature, the importance of each sample trajectory is estimated. Rating the sample trajectories based on importance, the training data for inverse reinforcement learning are identified. The validity of our approach is verified through simulation in two scenarios: inconsistency caused by variation of an environment and performance of a robot.

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  • A GPU-Based Statistical Framework for Moving Object Segmentation: Implementation, Analysis and Applications Reviewed

    Alfredo Cuzzocrea, Enzo Mumolo, Alessandro Moro, Kazunori Umeda

    INTERNET AND DISTRIBUTED COMPUTING SYSTEMS, IDCS 2015   9258   209 - 220   2015

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    This paper describes a real-time implementation of a recently proposed background maintenance algorithm and reports the relative performances. Experimental results on dynamic scenes taken from a fixed camera show that the proposed parallel algorithm produces background images with an improved quality with respect to classical pixel-wise algorithms, obtaining a speedup of more than 35 times compared to CPU implementation. It is worth noting that we used both the GeForce 9 series (actually a 9800 GPU) available from the year 2008 and the GeForce 200 series (actually a 295 GPU) available from the year 2009. Finally, we show that this parallel implementation allows us to use it in real-time moving object detection application.

    DOI: 10.1007/978-3-319-23237-9_19

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  • Evaluation of Using Equirectangular Images for a Fish-eye Stereo Camera

    Ohashi Akira, Tanaka Yuki, Masuyama Gakuto, Umeda Kazunori, Fukuda Daisuke, Irie Kota, Ogata Takehito, Narita Tatsurou, Uchida Yoshitaka

    Proceedings of JSPE Semestrial Meeting   2015   271 - 272   2015

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    DOI: 10.11522/pscjspe.2015A.0_271

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  • A novel information fusion approach for supporting shadow detection in dynamic environments Reviewed

    Alfredo Cuzzocrea, Enzo Mumolo, Alessandro Moro, Kazunori Umeda, Gianni Vercelli

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   9384   353 - 363   2015

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    In this paper we present a system for detecting shadows in dynamic indoor and outdoor environment. The algorithm we propose fuses together color and stereo disparity information. Some considerations on the nature of the shadow improves the algorithm’s ability to candidate the pixels as shadow or foreground. The candidate of both color and disparity information are then weighted by analyzing the effectiveness in the scene. The techniques employed allows separate computation and multithreading operations.

    DOI: 10.1007/978-3-319-25252-0_38

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  • Shadow detection in complex environments via an innovative information fusion approach Reviewed

    Alfredo Cuzzocrea, Enzo Mumolo, Alessandro Moro, Kazunori Umeda, Gianni Vercelli

    Proceedings - DMS 2015: 21st International Conference on Distributed Multimedia Systems   85 - 93   2015

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    In this paper a novel moving shadows detecting algorithm is proposed. The algorithm can be used in indoor and outdoor environments. The algorithm we propose fuses together color and stereo disparity information using the Dempster-Shafer combination rule. Some considerations on the nature of the shadow improves the algorithm's ability to candidate the pixels as shadow or foreground. The candidate of both color and disparity information are then weighted by analyzing the effectiveness in the scene.

    DOI: 10.18293/DMS2015-030

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  • Tracking of Multiple Humans Using Subtraction Stereo and Particle Filter Reviewed

    Takehiro Kawashita, Masatoshi Shibata, Gakuto Masuyama, Kazunori Umeda

    2014 IEEE Int. Workshop on Advanced Robotics and its Social Impacts (ARSO2014)   63 - 68   2014.9

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  • 距離画像セグメンテーションに基づくリアルタイム人物検出 Reviewed

    柴田 雅聡, 生形 徹, 寺林 賢司, モロ アレサンドロ, 梅田 和昇

    日本ロボット学会誌   32 ( 6 )   558 - 565   2014.8

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  • 差分ステレオとパーティクルフィルタによる複数人物追跡 Reviewed

    川下 雄大, 柴田 雅聡, 増山 岳人, 梅田 和昇

    日本機械学会論文集   80 ( 811 )   DR0052 - DR0052   2014.3

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    This paper proposes a method for automatic tracking of multiple humans in various scenes using a stereo camera. Surveillance cameras are increasing these days for security. Typically, images of a camera are stored and are surveyed after an incident occurred. It is required to use the cameras online, and real-time automatic human tracking is required. The proposed method detects candidate regions of humans using "Subtraction Stereo", which restricts stereo matching to foreground regions extracted by subtraction and obtains distance information for the regions. Human tracking is carried out for the extracted regions by using Particle Filter. Particle Filter consists of four steps, i.e., prediction, calculation of likelihood, data association, and resampling. Three features: distance, color, and direction of motion are used in the Particle Filter of the proposed method to achieve robust human tracking. When humans with similar cloth colors pass each other, occlusion occurs and human tracking often fails with distance and color only. The proposed method achieves the robustness to the occlusion by explicitly considering the direction of human motion. The proposed method is evaluated through experiments using a stereo camera that simulates a surveillance camera in real scenes. Tracking accuracy of more than 90% is achieved in three different scenes, which shows the effectiveness of the proposed method for human tracking.

    DOI: 10.1299/transjsme.2014dr0052

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  • 3D Mapping Using an RGB-D Sensor Reviewed

    Yuki Uchida, Shinta Nozaki, Gakuto Masuyama, Kazunori Umeda

    Proc. of 20th Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV2014)   27 - 32   2014.2

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  • Human Following with a Mobile Robot Based on Combination of Disparity and Color Images Reviewed

    Yuzuka Isobe, Gakuto Masuyama, Kazunori Umeda

    2014 10TH FRANCE-JAPAN/ 8TH EUROPE-ASIA CONGRESS ON MECATRONICS (MECATRONICS)   84 - 88   2014

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    This paper presents a target tracking system for a mobile robot in both indoor and outdoor environments. A stereo camera, which is robust to sunlight and illumination changes, is used. Human regions in images are detected from 3D information. Using color information, a target region is discriminated from the detected human regions. Hue and saturation are chosen as features robust to illumination changes. Finally, a mobile robot is controlled based on the 3D information of the detected target region. The effectiveness of the proposed system is verified through human following experiments in both indoor and outdoor environments.

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  • Fast Human Detection Combining Range Image Segmentation and Local Feature Based Detection Reviewed

    Toru Ubukata, Masatoshi Shibata, Kenji Terabayashi, Alessandro Moro, Takehiro Kawashita, Gakuto Masuyama, Kazunori Umeda

    2014 22ND INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION (ICPR)   4281 - 4286   2014

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    This paper proposes a human detection method that combines range image segmentation and human detection based on image local features. The method uses a stereo vision system called Subtraction Stereo, which extracts a range image of foreground regions. An extracted range image is segmented for each object by Mean Shift Clustering. Human detection based on local features is applied to each segment of foreground regions to detect humans. In this process, regions to scan a detection window for extracting local features are restricted. In addition, the size of the detection window is obtained using the distance information of a range image and camera parameters. Therefore, processing time and false detection can be reduced. Joint HOG features are used as the image local features. When applying the Joint HOG based human detection, occlusion of multiple humans is considered in construction of a classifier and in integration of detection windows, which improves the detection performance for the occluded humans. The proposed method is evaluated by experiments comparing with the method using Joint HOG features only. 11fps fast human detection is achieved.

    DOI: 10.1109/ICPR.2014.734

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  • 網膜神経線維層厚の特徴を用いOCT画像からの緑内障疾患領域の検出 Reviewed

    滝田 清, 寺林 賢司, 梅田 和昇, 富所 敦男

    精密工学会誌   79 ( 11 )   1124 - 1129   2013.11

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    This paper proposes a method of detecting affected segments of glaucoma from optical coherence tomography (OCT) images. Thickness of nerve fiber layers and its asymmetry, difference, and variance are used as features. OCT images are segmented and the four features are obtained at each segment. Normal and glaucoma classes are constructed at each segment using training data. Detection of affected segments of glaucoma is carried out using four pattern classification methods : classification using Mahalanobis distance, maximum likelihood, nearest neighbor method, and support vector machine. The proposed method is evaluated by experiments to compare the detection results by the method and ones by a doctor.

    DOI: 10.2493/jjspe.79.1124

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  • Trajectory of Center of Pressure and Posture of Fingertip During Lifting Task Reviewed

    Kyohei Sato, Mitsunori Tada, Kazunori Umeda

    XXIV Congress of the International Society of Biomechanics (ISB2013 BRAZIL)   2013.8

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  • マルチスリットレーザプロジェクタを用いた超小型距離画像センサの構築 Reviewed

    岩崎 一也, 寺林 賢司, 梅田 和昇

    日本機械学会論文集C編   79 ( 803 )   2451 - 2459   2013.7

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    In this paper, a compact range image sensor for measuring objects in a short distance is constructed using a multi-slit laser projector. When a robot executes a task such as grasping an object or avoiding an obstacle, three-dimensional (3D) information of the target is usually necessary. A humanoid generally carries a vision sensor at its head and recognizes, grasps or avoids objects using the vision sensor. Measurement with a sensor attached to a robot's body is often suffered from occlusion by its hand just before grasping an object. The constructed sensor is compact enough to be attached to a robot's hand and thus occlusion can be avoided. The compactness of the sensor is achieved by using a small CMOS camera and a laser projector and setting the baseline length between them as short as possible. The short baseline length also enables measurement in a short distance. Some experiments verify that the constructed sensor can obtain 3D information of objects appropriately in a short distance.

    DOI: 10.1299/kikaic.79.2451

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  • フーリエ変換を用いた指振り検出と機器操作への応用 Reviewed

    浅野秀胤, 永易 武, 織茂達也, 寺林賢司, 太田 睦, 梅田和昇

    精密工学会誌   79 ( 6 )   565 - 570   2013.6

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    In this paper, a method to detect slight finger-waving from images is proposed. The proposed method converts input images to low-resolution intensity images. To obtain the amplitude spectrum, the method applies windowed-Fourier transform to time series of each pixel in the low-resolution images. The difference value of the amplitude spectrum between 2Hz and the peak of 3 to 6Hz is accumulated as an evaluation value. If the evalutaion value becomes above the threshold value, the pixel is detected as a point with finger-waving movement. The proposed method can detect even slight finger-waving. A gesture interface system using the proposed method with multiple cameras is constructed. The system obtains 3D position of the finger-waving. The position is related to some command and the system controls the equipment.

    DOI: 10.2493/jjspe.79.565

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  • A framework for pedestrian comfort navigation using multi-modal environmental sensors Reviewed

    Congwei Dang, Masayuki Iwai, Yoshito Tobe, Kazunori Umeda, Kaoru Sezaki

    PERVASIVE AND MOBILE COMPUTING   9 ( 3 )   421 - 436   2013.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ELSEVIER SCIENCE BV  

    Environments significantly influence the sensation of pedestrians, while sensing and navigation technologies can help people improve their trip comfort. In this paper, we present an integrated framework, named NaviComf, which constructs pedestrian navigation systems to improve comfort in time varying environments taking into account the heterogeneous environmental factors. With NaviComf we aim to systematically provide solutions to the four key issues: (1) how to organize the huge amount of sensor data, (2) how to forecast future environmental information, (3) how to incorporate the heterogeneous environmental factors, and (4) how to select optimal paths in time varying environments. We have gathered sensor data of air temperature, relative humidity, and pedestrian congestion in real environments. We have also implemented a prototype system on the basis of the framework using the sensor data. Results of simulations and evaluations show that NaviComf can efficiently provide more comfortable paths as compared with the traditional navigation method. (C) 2013 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.pmcj.2013.01.002

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  • Construction of a coaxial textured range image sensing system, Reviewed

    Yuki Uchida, Shinta Nozaki, Kenji Terabayashi, Kazunori Umeda

    Proc. of 11th Interational Conference on Quality Control by Artificial Vision (QCAV2013)   168 - 174   2013.5

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  • Detection of Affected Segments of Glaucoma Using Features of Nerve Fiber Layer, Reviewed

    Kiyoshi Takita, Kenji Terabayashi, Kazunori Umeda, Atsuo Tomidokoro

    Proc. of 11th Interational Conference on Quality Control by Artificial Vision (QCAV2013)   248 - 252   2013.5

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  • 差分ステレオを用いた人流計測手法の屋外実環境における実証実験 Reviewed

    柴田 雅聡, 生形 徹, 有江 誠, モロ アレサンドロ, 寺林 賢司, 梅田 和昇

    日本機械学会論文集C編   79 ( 800 )   1036 - 1045   2013.4

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  • Improved Foreground-Background Segmentation using Dempster-Shafer Fusion Reviewed

    Alessandro Moro, Enzo Mumolo, Massimiliano Nolich, Kenji Terabayashi, Kazunori Umeda

    2013 8TH INTERNATIONAL SYMPOSIUM ON IMAGE AND SIGNAL PROCESSING AND ANALYSIS (ISPA)   72 - 77   2013

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    Popular foreground-background segmentation algorithms are based of background subtraction. In complex indoor environments, if an object in motion initially remains stationary for a certain period, it can be absorbed into the background, becoming invisible to the system. Aiming at solving this problem, this paper presents a flexible and robust foreground-background segmentation algorithm based on accurate moving objects classification. Our algorithm combines low level and high level information, i.e. the data belonging to single pixels and the result of accurate object classification respectively, to improve the background management. Accurate object classification is obtained by combining classification evidence from different object recognisers using the Dempster-Shafer rule. The proposed algorithm has been tested with a large amount of acquired images; moreover, real test cases are reported. Reported experimental results include object classification accuracies obtained with a proposed Basic Belief Assignments and measurements of the quality of the background image such as Recall-Precision and F-measure computed with different background management algorithms. The experimental results show the superiority of the proposed segmentation algorithm over popular algorithms.

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  • EPI Analysis of Fish-Eye Images Reviewed

    Kenji Terabayashi, Toru Morita, Hiroya Okamoto, Takaaki Oiwa, Kazunori Umeda

    INTELLIGENT AUTONOMOUS SYSTEMS 12, VOL 1   193   365 - +   2013

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    This paper proposes a method to get depth information from image sequences obtained from a moving fish-eye camera. The motion is assumed to be along the optical axis of the fish-eye camera. In this case, a point on a fish-eye image moves to radial direction. This is one of the epipolar constraints that are very effective to find corresponding points in an image sequences. Epipolar-plane image (EPI) is an image having epipolar constraint in a volume of accumulating an image sequence. The gradient of a curve on EPI has depth information of the corresponding measuring point. Measurement accuracy of the proposed method is examined over a wide-angle range.

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  • Fast human detection using template matching for gradient images and aSC descriptors based on subtraction stereo Reviewed

    Makoto Arie, Masatoshi Shibata, Kenji Terabayashi, Alessandro Moro, Kazunori Umeda

    2013 IEEE International Conference on Image Processing, ICIP 2013 - Proceedings   3118 - 3122   2013

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    A fast human detection system using a stereo camera is constructed. 'Subtraction stereo', that can measure distance information of foreground regions, is used to restrict regions for human detection and to adapt the detection window size. Two methods are introduced for human detection. One is a method based on template matching using gradient images, and the other is a method using approximated Shape Context (aSC) descriptors focusing on human upper bodies. High human detection performance better than the standard HOG-based method with low calculation cost is achieved by the combination of the two methods. The effectiveness of the proposed system is verified experimentally. © 2013 IEEE.

    DOI: 10.1109/ICIP.2013.6738642

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  • Recognition of Finger-Pointing Direction Using Color Clustering and Image Segmentation Reviewed

    Hidetsugu Asano, Takeshi Nagayasu, Tatsuya Orimo, Kenji Terabayashi, Mutsumi Ohta, Kazunori Umeda

    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   2029 - 2034   2013

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    An accurate method of recognizing finger-pointing direction using multiple cameras is proposed. Input images are segmented by color clustering prior to shape analysis. Some restrictions in previous methods, such as narrowness of operation area and predefined skin color, are removed. Finger-pointing recognition in eight directions is achieved with an average of 90% recall and 93% precision.

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  • Experimental evaluation of methods of pedestrian traffic measurement using subtraction stereo Reviewed

    Masatoshi Shibata, Toru Ubukata, Makoto Arie, Alessandro Moro, Kenji Terabayashi, Kazunori Umeda

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79 ( 800 )   1036 - 1045   2013

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    In this paper, we report the results of experimental evaluation for methods of pedestrian traffic measurement at the festival held in Tatebayashi, Gunma prefecture. To measure pedestrian traffics, which include the direction and the number of pedestrian, we have already proposed two types of measuring methods based on subtraction stereo. One is the tracking method using Kalman filter, which is used in uncrowded scenes. The other is the method using KLT and Voronoi diagram, used in highly dense scenes. Finally, we show the accuracy of the proposed methods used in city environments. © 2013 The Japan Society of Mechanical Engineers.

    DOI: 10.1299/kikaic.79.1036

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  • SIFTと距離濃淡画像を用いた柔軟な誤対応除去による幾何モデルとカラー画像の高精度なレジストレーション Reviewed

    猪股亮, 寺林賢司, 梅田和昇, ギー ゴダン

    電子情報通信学会論文誌   J95-D ( 8 )   1585 - 1597   2012.8

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  • Detection of small-waving hand by distributed camera system Reviewed

    Kenji Terabayashi, Hidetsugu Asano, Takeshi Nagayasu, Tatsuya Orimo, Mutsumi Ohta, Takaaki Oiwa, Kazunori Umeda

    Proc. of the Ninth International Conference on Networked Sensing Systems (INSS2012)   2012.6

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  • HOG特徴量と差分ステレオによる複数識別器を用いた人物検出 Reviewed

    有江誠, モロ アレサンドロ, 寺林賢司, 梅田和昇

    精密工学会誌   78 ( 6 )   494 - 499   2012.6

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    In this paper, we propose a fast and stable human detection based on "Subtraction Stereo" which can measure distance information of foreground regions. Scanning an input image by detection windows is controlled about their window sizes and number using the distance information obtained from subtraction stereo. This control can skip a large number of detection windows and leads to reduce the computational time and false detection for fast and stable human detection. Additionally, we construct a human detection method with little incorrect detection using multiple detectors. The effectiveness of our method is verified by experiments.

    DOI: 10.2493/jjspe.78.494

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  • Real-Time Background Modeling Based on Classified Dynamic Objects for Human Robot Application Reviewed

    Alessandro Moro, Enzo Mumolo, Massimiliano Nolich, Kenji Terabayashi, Kazunori Umeda

    Proc. of the Ninth International Conference on Networked Sensing Systems (INSS2012)   2012.6

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  • 形状特徴の重ね合わせによる個体別手指モデルの生成 Reviewed

    木村加奈子, 多田充徳, 寺林賢司, 梅田和昇

    日本機械学会論文集C編   78 ( 788 )   1202 - 1210   2012.4

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  • 色のクラスタリングを用いた指差し方向認識

    浅野秀胤, 織茂達也, 寺林賢司, 太田 睦, 梅田和昇

    PIONEER R&D 2012   21 ( 1 )   23 - 29   2012.3

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  • 100Hzテクスチャ付き距離画像計測システムの構築と三次元マッピングへの応用 Reviewed

    石山英俊, 寺林賢司, 内田裕己, 梅田和昇

    日本ロボット学会誌   30 ( 1 )   62 - 71   2012.1

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    In this paper, a compact high-speed range image sensor that can acquire a range image mapped with a color texture is constructed. The sensor consists of only commercially available products: a monochrome CCD camera, a color CCD camera, a laser projector, and two optical filters. The laser projector projects 19×19 multi-spot lights. Using the laser projector and the monochrome CCD camera with the optical filters, range images with 19×19, totally 361 points are measured. As fast as 100[Hz] measurement of a range image mapped with a color texture is achieved. Additionally, a three-dimensional (3D) mapping method using the constructed sensor is introduced. The performance of the constructed sensor and the 3D mapping method are evaluated by experiments. It is shown that the constructed sensing system can acquire 100[Hz] real-time textured range images and that it can be applied to 3D mapping by using range and color information.

    DOI: 10.7210/jrsj.30.62

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  • 3D measurement using a fish-eye camera based on EPI analysis Reviewed

    Kenji Terabayashi, Toru Morita, Hiroya Okamoto, Kazunori Umeda

    Journal of Robotics and Mechatronics   24 ( 4 )   677 - 685   2012

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    In car driving support systems and mobile robots, it is important to understand three-dimensional environment widely at once. In this paper, we use a fish-eye camera as a sensor to measure three-dimensional (3D) environments. This camera can take a wide-range and distortional image and can be easily mounted on cars. We propose a method for reconstructing 3D environment using fish-eye images based on Epipolar-Plane Image (EPI) analysis. This method enables easy and stable matching of feature points. The effectiveness of the proposed method is verified by experiments.

    DOI: 10.20965/jrm.2012.p0677

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  • Synthesis of subject-specific finger model by superimposition of geometric features Reviewed

    Kanako Kimura, Mitsunori Tada, Kenji Terabayashi, Kazunori Umeda

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   78 ( 788 )   1202 - 1210   2012

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    In this paper, we propose a method to synthesize subject-specific three dimensional finger models including skin and bones from geometric database and representative dimensions that can be measured by a caliper. The geometric database necessary for our method was developed by analyzing principal feature of the individual differences by using principal component analysis. The proposed method synthesizes subject-specific models by blending these principal features. The weight for each feature was determined by numerical optimization so that the synthesized subject-specific model reproduces the representative dimensions of the actual subject. We applied our method to fifty fingers. The average of the maximum error was 1.0mm, while the average error was 0.2mm. For more than 70% of the subjects, the bone as well as skin geometry were synthesized with acceptable error range from the representative dimensions of surface geometry. As for the remaining 30%, there was significant error in bone length. This method has distinct advantage over the conventional method in which time consuming manual segmentation for medical images is necessary, since we can generate subject-specific finger models in 5 to 10 minutes automatic computation. © 2012 The Japan Society of Mechanical Engineers.

    DOI: 10.1299/kikaic.78.1202

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  • NaviComf: Navigate Pedestrians for Comfort Using Multi-modal Environmental Sensors Reviewed

    Congwei Dang, Masayuki Iwai, Kazunori Umeda, Yoshito Tobe, Kaoru Sezaki

    2012 IEEE INTERNATIONAL CONFERENCE ON PERVASIVE COMPUTING AND COMMUNICATIONS (PERCOM)   76 - 84   2012

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    In this paper, we present an integrated framework, named NaviComf, which constructs pedestrian navigation systems for comfort in varying environments by using multimodal sensing technologies. With NaviComf we aim to systematically provide solutions to three key problems: (1) how to build the environmental data warehouse (EDW) which works as an infrastructure providing comprehensive and predictive environmental information, (2) how to integrate heterogeneous environmental information from multi-modal sensors into an aggregate value which facilitates further processing, and (3) how to determine the optimal path plans in environments which are varying continuously. In NaviComf the multidimensional data model and data prediction method are applied to build the EDW. Then a novel multi-factor cost (MFC) model is proposed as the fundamental concept to integrate the multi-modal sensor data. Based on the former two solutions, the optimal path planning (PP) problem is solved in a time-dependent network by applying a dynamic programming method. In the evaluations of NaviComf, sensor data for temperature, humidity, and pedestrian traffic flow have been gathered in real environments and a prototype system has been implemented with the data. Evaluations are conducted by using the prototype system and the results show that NaviComf can efficiently navigate pedestrians through more comfortable paths as compared to the traditional navigation method.

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  • Mouth movement recognition using template matching and its implementation in an intelligent room Reviewed

    Kiyoshi Takita, Takeshi Nagayasu, Hidetsugu Asano, Kenji Terabayashi, Kazunori Umeda

    Journal of Robotics and Mechatronics   24 ( 2 )   311 - 319   2012

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    This paper proposes a method of recognizing movements of the mouth from images and implements the method in an intelligent room. The proposed method uses template matching and recognizes mouth movements for the purpose of indicating a target object in an intelligent room. First, the operator's face is detected. Then, the mouth region is extracted from the facial region using the result of template matching with a template image of the lips. Dynamic Programming (DP) matching is applied to a similarity measure that is obtained by template matching. The effectiveness of the proposed method is evaluated through experiments to recognize several names of common home appliances and operations.

    DOI: 10.20965/jrm.2012.p0311

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  • 網膜神経線維層厚の非対称性を用いた緑内障疾患領域の検出

    滝田 清, 寺林 賢司, 梅田 和昇, 富所 敦男

    精密工学会学術講演会講演論文集   2012   519 - 520   2012

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    近年,緑内障に対するコンピュータ支援診断として網膜神経線維層厚のカラーマップを作成することで医師を補助するという方法が確立されている.しかし線維層厚のカラーマップでは病状が初期の場合,変化が表れず,補助することが困難である.そこで本論文では網膜神経線維層厚の非対称性を考慮することで疾患領域を検出する.検出された領域を医師のよって疾患領域と特定された個所と比較することで本手法の有用性を検証する.

    DOI: 10.11522/pscjspe.2012A.0.519.0

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  • Construction of a compact range image sensor using a multi-slit laser projector suitable for a robot hand Reviewed

    Kazuya Iwasaki, Kenji Terabayashi, Kazunori Umeda

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   4517 - 4523   2012

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    In this paper, a compact range image sensor used for short-range measurements is constructed with a multi-slit laser projector. Three-dimensional (3D) information obtained with a sensor is important for a robot that grasps an object. Sensors attached to robots for measurement are often hindered by occlusion by the hand immediately before an object is grasped. The constructed sensor is compact enough to be attached to a robot's hand, and occlusion can thus be avoided Compactness of the sensor is achieved by using a small CMOS camera and a laser project or and setting the baseline length between them as short as possible. The short baseline length also enables measurement in a short distance. Some experiments verify that the constructed sensor obtains accurate 3D information of objects in a short distance.

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  • Improvement of Color Information in the Generation of 3D Models of Real Objects Using Range Intensity Images Reviewed

    Toru Takahama, Ryo Inomata, Kenji Terabayashi, Kazunori Umeda, Guy Godin

    EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV   523-524   362 - +   2012

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    Texture mapping on scanned objects, which is the method to map color images on a 3D geometric model measured by a range image sensor, is often used for constructing a realistic 3D model. Color images are affected by the illumination conditions. Therefore, discontinuities of seams occur when simply applying texture mapping. In this paper, we propose a method for correcting the discontinuities using a range intensity image. A range intensity image is a kind of intensity image that is related to the reflectance ratio of the measured points, simultaneously acquired with a range image using an active range sensor. The method estimates the color information that is not affected by the lighting environment using multiple color images and a range intensity image. As a result, the method is effective to construct a 3D model with seamless color images. The effectiveness of the correction method is illustrated by experiments with real-world objects.

    DOI: 10.4028/www.scientific.net/KEM.523-524.362

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  • An Information Service for Urban Atmosphere Using Smart Phones And WSN Reviewed

    Tatsuhiro Nishimoto, Tatsunori Ushikubo, Masayuki Tada, Kazumasa Oshima, Hiroto Aida, Niwat Thepvilojanapong, Kenji Terabayashi, Takeshi Iwamoto, Masayuki Iwai, Kazunori Umeda, Yoshito Tobe

    Proc. of International Conference on Human Probes and Smartphone Sensing (ICHPSS2011)   29 - 34   2011.12

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  • A Design of Ambient Navigation System for Pedestrians Using Heterogeneous Environmental Sensors Reviewed

    Congwei Dang, Masayuki Iwai, Yoh Shiraishi, Kazunori Umeda, Yoshito Tobe, Kaoru Sezaki

    Proc. of International Conference on Human Probes and Smartphone Sensing (ICHPSS2011)   35 - 39   2011.12

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  • Improvement of Human Tracking in Stereoscopic Environment Using Subtraction Stereo with Shadow Detection Reviewed

    Kenji Terabayashi, Yuma Hoshikawa, Alessandro Moro, Kazunori Umeda

    International Journal of Automation Technology   5 ( 6 )   924 - 931   2011.11

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  • Improvement of an Intelligent Room that Detects Hand Waving Motion for Operation of Home Appliances Reviewed

    Takeshi Nagayasu, Hidetsugu Asano, Kenji Terabayashi, Kazunori Umeda

    Proc. of SICE Annual Conference 2011   821 - 826   2011.9

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  • Subject-specific finger model from geometric database Reviewed

    Kanako Kimura, Mitsunori Tada, Kenji Terabayashi, Kazunori Umeda

    Proceedings of the 23rd congress of International Society of Biomechanics (ISB2011)   P155   2011.7

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  • Improvement of Key Functions of the Intelligent Room Reviewed

    Takeshi Nagayasu, Hidetsugu Asano, Masahito Takahashi, Kenji Terabayashi, Kazunori Umeda

    Proc. of Eighth International Conference on Networked Sensing Systems (INSS2011)   2 - 2   2011.6

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  • Tracking of Human Groups Using Subtraction Stereo Reviewed

    Yuma Hoshikawa, Yuki Hashimoto, Alessandro Moro, Kenji Terabayashi, Kazunori Umeda

    Journal of Control, Measurement, and System Integration   4 ( 3 )   214 - 220   2011.5

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  • 生活安心・安全のための多次元センシング Reviewed

    山口順一, 下村倫子, 梅田和昇, 佐藤雄隆, 実森彰郎, 藤吉弘亘, 寺田賢治, 本谷秀堅, 渡邉恵理子, 奥田晴久, 羽下哲司, 橋本学

    電気学会論文誌D   131 ( 4 )   418 - 425   2011.4

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    In this paper, the authors describe multi-dimensional sensing that can be adopted to realize security in everyday life. In this study, the applications of sensing based on the use of surveillance cameras for equipment mounted on cars, road transport, fields such as farming, and health maintenance have been investigated. Recently developed systems and methods involving multi-dimensional sensing technologies are introduced, and current issues and trends are described.

    DOI: 10.1541/ieejias.131.418

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  • フーリエ変換を用いた小さな手振りの検出

    浅野秀胤, 織茂達也, 高橋真人, 寺林賢司, 太田睦, 梅田和昇

    PIONEER R&D 2011   20 ( 1 )   16 - 21   2011.3

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  • Real-Time GPU Implementation of an Improved Cars, Pedestrians and Bicycles Detection and Classification System Reviewed

    Alessandro Moro, Enzo Mumolo, Massimiliano Nolich, Kazunori Umeda

    2011 14TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC)   1343 - 1348   2011

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    In this paper a real time system for cars, pedestrians and bicycle detection and classification is presented. The system aims at monitoring the traffic flow in urban zones and uses video data acquired with both mono and stereo cameras. All the algorithms have been developed in a pixel-wise fashion in order to be parallelized on a GPU device for real-time performances. We show that by a GPU implementation of the time-consuming parts of the proposed system, we perform detection and classification at about 25 frame per second to ensure prompt and effective reaction to the monitored events.

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  • Registration of 3D geometric model and color images using SIFT and range intensity images Reviewed

    Ryo Inomata, Kenji Terabayashi, Kazunori Umeda, Guy Godin

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   6938 ( 1 )   325 - 336   2011

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    In this paper, we propose a new method for 3D-2D registration based on SIFT and a range intensity image, which is a kind of intensity image simultaneously acquired with a range image using an active range sensor. A linear equation for the registration parameters is formulated, which is combined with displacement estimations for extrinsic and intrinsic parameters and the distortion of a camera's lens. This equation is solved to match a range intensity image and a color image using SIFT. The range intensity and color images differ, and the pairs of matched feature points usually contain a number of false matches. To reduce false matches, a range intensity image is combined with the background image of a color image. Then, a range intensity image is corrected for extracting good candidates. Moreover, to remove false matches while keeping correct matches, soft matching, in which false matches are weakly removed, is used. First, false matches are removed by using scale information from SIFT. Secondly, matching reliability is defined from the Bhattacharyya distance of the pair of matched feature points. Then RANSAC is applied. In this stage, its threshold is kept high. In our approach, the accuracy of registration is advanced. The effectiveness of the proposed method is illustrated by experiments with real-world objects. © 2011 Springer-Verlag.

    DOI: 10.1007/978-3-642-24028-7_30

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  • 距離画像センサを用いた3次元指差し方向認識(若葉研究者の集い4,サマーセミナー2011(若葉研究者の集い))

    武田 泰幸, 浅野 秀胤, 寺林 賢司, 梅田 和昇

    映像情報メディア学会技術報告   35   75 - 76   2011

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    近年,操作者のジェスチャを認識して家電製品などを操作するシステムが様々な場面で期待されている.本論文では,ジェスチャ操作システムの一つであるインテリジェントルームにおいて,操作する家電製品の選択を,距離画像センサを用いた3次元ジェスチャ認識によって行うことを提案している.操作者が操作したい家電製品に対して指を差すことで,操作する家電製品の選択を行っている.距離画像センサで取得した画像から指領域を抽出し,指の3次元的な角度を求めることで指差し方向を認識する.実験により,指差し方向の認識率を評価している.

    DOI: 10.11485/itetr.35.33.0_75

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  • 9-9 Consumer electronics operation system with small hand-waving movements

    ASANO Hidetsugu, ORIMO Tatsuya, NAGAYASU Takeshi, TERABAYASHI Kenji, OOTA Mutsumi, UMEDA Kazunori

    PROCEEDINGS OF THE ITE ANNUAL CONVENTION   2011   9 - 9-1-_9-9-2_   2011

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    A control system is proposed for home appliances using only slight hand-waving gesture. The system detects the gesture with four cameras and calculates its 3D-position. Some operations of TV (turn on/off, channel change, volume up/down, etc.) can be related the hand-waving positions. Experimental results show that the system is reliable.

    DOI: 10.11485/iteac.2011.0_9-9-1

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  • Car Detection using Subtraction Stereo with EOH Features

    Arie Makoto, Suzuki Kazui, Ubukata Toru, Alessandro Moro, Terabayashi Kenji, Umeda Kazunori

    Proceedings of JSPE Semestrial Meeting   2011   924 - 925   2011

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    DOI: 10.11522/pscjspe.2011A.0.924.0

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  • Fast and Stable Human Detection Using Multiple Classifiers Based on Subtraction Stereo with HOG Features Reviewed

    Makoto Arie, Alessandro Moro, Yuma Hoshikawa, Toru Ubukata, Kenji Terabayashi, Kazunori Umeda

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   868 - 873   2011

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    In this paper, we propose a fast and stable human detection based on "subtraction stereo" which can measure distance information of foreground regions. Scanning an input image by detection windows is controlled in their window sizes and number using the distance information obtained from subtraction stereo. This control can skip a large number of detection windows and leads to reduce the computational time and false detection for fast and stable human detection. Additionally, we propose two-step boosting as a new training way of classifier with whole and upper human body models. Experimental results show that the proposal is faster and less false detection than the method described in the reference [1].

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  • Fast Human Detection Algorithm Based on Subtraction Stereo for Generic Environment Reviewed

    Alessandro Moro, Makoto Arie, Kenji Terabayashi, Kazunori Umeda

    2011 INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL MODELS FOR LIFE SCIENCES (CMLS-11)   1371   307 - 316   2011

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    In this paper, we propose a fast and stable human detection based on subtraction stereo for generic environments. Scanning an input image by detection windows, the numbers and size is controlled by distance obtained from subtraction stereo. A preprocessing phase reduces the effect of noise and shadow, for a better segmentation. This control decrease the computation time, important in real-time applications, skipping a large number of detection windows. Experimental results show that the proposal is faster and less false detection.

    DOI: 10.1063/1.3596655

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  • Real-time human tracking in stereoscopic environments using subtraction Stereo Reviewed

    Kenji Terabayashi, Yuma Hoshikawa, Yuki Hashimoto, Kazunori Umeda

    Proc. of 4th International Asia Symposium on Mechatronics (AISM2010)   97 - 104   2010.12

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  • 球体を用いた魚眼カメラの内部パラメータ校正 Reviewed

    奥津 良太, 寺林 賢司, 梅田 和昇

    電子情報通信学会論文誌   J93-D ( 12 )   2645 - 2653   2010.12

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  • Dynamic background modeling for moving objects detection using a mobile stereo camera Reviewed

    Alessandro Moro, Enzo Mumolo, Massimiliano Nolich, Kenji Terabayashi, Kazunori Umeda

    Proc. 8th France-Japan Congress & 6th Europe-Asia Congress on Mechatronics   143 - 148   2010.11

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  • 周期運動検出に基づくジェスチャ認識 Reviewed

    高橋真人, 入江耕太, 寺林賢司, 梅田和昇

    日本ロボット学会誌   28 ( 6 )   756 - 765   2010.7

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  • A Framework for the Detection and Interaction with Pedestrian and Objects in an Unknown Environment Reviewed

    A. Moro, K. Terabayashi, K. Umeda, E. Mumolo

    Proc. of Seventh International Conference on Networked Sensing Systems (INSS2010)   257 - 260   2010.6

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  • Skin Color Registration using Recognition of Waving Hands Reviewed

    Kota Irie, Masahito Takahashi, Kenji Terabayashi, Hidetoshi Ogishima, Kazunori Umeda

    J. Robotics and Mechatronics   22 ( 3 )   262 - 272   2010.6

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  • 差分ステレオ-運動領域に注目したステレオ視-の提案 Reviewed

    梅田和昇, 寺林賢司, 橋本優希, 中西達也, 入江耕太

    精密工学会誌   76 ( 1 )   123 - 128   2010.1

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    In this paper, a practical method of stereo vision, "subtraction stereo" is proposed. A huge number of studies have been carried out for stereo vision until now, and several practical stereo vision systems have been reported. However, what is called the correspondence problem that stereo matching becomes difficult and not robust for weak textures or recurrent patterns is inevitable for stereo vision. Subtraction stereo realizes robust measurement of range images by detecting moving regions with each camera first and then applying stereo matching for the detected moving regions. Detection of moving regions is carried out with a subtraction process. Concept and fundamental algorithm of subtraction stereo are introduced. Then measurement of three-dimensional position, height and width of a target object using the subtraction stereo is discussed. The basic algorithm is implemented on a commercially available stereo camera and the effectiveness of the subtraction stereo is verified by several experiments using the stereo camera. Although objects are restricted to moving ones, subtraction stereo gives sufficient information robustly for many applications such as surveillance.

    DOI: 10.2493/jjspe.76.123

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  • Role of pre-operation in experiencing differently sized hands Reviewed

    Terabayashi, K., Miyata, N., Umeda, K., Ota, J.

    Journal of Advanced Computational Intelligence and Intelligent Informatics   14 ( 7 )   793 - 801   2010

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    DOI: 10.20965/jaciii.2010.p0793

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  • A 100Hz real-time sensing system of textured range images Reviewed

    Hidetoshi Ishiyama, Kenji Terabayashi, Kazunori Umeda

    2010 International Symposium on Optomechatronic Technologies, ISOT 2010   SP - SH-7   2010

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    This paper describes a small high-speed range image sensor which can acquire a range image mapped with a color texture captured by another camera. The constructed sensor consists of only commercially available products: a monochrome CCD camera, a color CCD camera, a laser projector, and two optical filters. The resolution of the range image is 19×19 for a total of 361 points, and the measurement speed is 100Hz. A three-dimensional (3D) mapping method using the constructed sensor is introduced. The measurement precision of the sensor and the accuracy of the constructed 3D map are evaluated with some experiments. In addition, measurement examples of the sensor are shown. Experiments verify that the constructed sensing system can acquire 100Hz real-time textured range images and that it can be applied to 3D mapping by using range and color information. © 2010 IEEE.

    DOI: 10.1109/ISOT.2010.5687379

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  • Gesture recognition based on the detection of periodic motion Reviewed

    Masahito Takahashi, Kota Irie, Kenji Terabayashi, Kazunori Umeda

    2010 International Symposium on Optomechatronic Technologies, ISOT 2010   VTSC - 2   2010

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    In this paper, we propose a method to recognize periodic gestures from images. The proposed method uses a amplitude spectrum and a phase spectrum that are obtained by applying Fast Fourier Transform (FFT) to a time series of intensity images. FFT is applied to each pixel of low-resolution images. The method consists of 2 steps. First, the method detects periodic motion regions from the amplitude spectrum. Secondly, the method uses the phase spectrum in the detected periodic motion region to classify the gestures. The proposed method is robust to lighting conditions and individual differences in skin color because it does not rely on color information. Several experiments are performed to demonstrate the effectiveness of the proposed method. © 2010 IEEE.

    DOI: 10.1109/ISOT.2010.5687352

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  • インテリジェントルームにおける指差し方向認識率の向上(若葉研究者の集い4,サマーセミナー(若葉研究者の集い))

    永易 武, 高橋 真人, 寺林 賢司, 梅田 和昇

    映像情報メディア学会技術報告   34   67 - 68   2010

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    現在,物体や場所を指示するためのインタフェースとして指差し動作の研究が盛んに行われている.本研究では,肌色抽出された顔領域と手領域に対して,指差し動作前後の移動量に注目し,抽出が乱れた場合でも顔領域と手領域の識別を可能にすることで,インテリジェントルームの指差し方向認識の認識率向上を実現している.

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  • Construction of a 3D model of real-world object using range intensity images Reviewed

    Masato Kusanagi, Kenji Terabayashi, Kazunori Umeda, Guy Godin, Marc Rioux

    CRV 2010 - 7th Canadian Conference on Computer and Robot Vision   317 - 323   2010

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    Texture mapping is useful for constructing a three-dimensional (3D) model because a realistic 3D model can be obtained efficiently and quickly. This paper proposes a system to construct a 3D model using range intensity images. A range intensity image, which is also called a reflectance image, refers to the intensity image that is acquired simultaneously with the range image captured using an active range sensor. Such an image has an important property in which illumination conditions, such as geometrical arrangement and power of illumination, can be controlled at the capture time, which allows the estimation of the reflectance properties of the object. Several methods using range intensity images are improved and combined to construct an effective system
    the registration of range images and color images is realized, an omnidirectional geometric model is constructed by registering and integrating multiple range images with range intensity images, and the influence of the illumination environment that occurs in color images is removed. In addition, a method to estimate the illumination color is introduced to compensate for the color of illumination light. Experiments show the effectiveness of the constructed system for obtaining a realistic 3D model. © 2010 IEEE.

    DOI: 10.1109/CRV.2010.48

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  • Construction of a compact range image sensor using multi-slit laser projector and obstacle detection of a humanoid with the sensor Reviewed

    Takahiro Kuroki, Kenji Terabayashi, Kazunori Umeda

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)   5972 - 5977   2010

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    Detection of obstacles on a plane is important for a mobile robot that moves in a living space, especially for a humanoid that falls down even with a small obstacle. In this paper, a range image sensor for detecting small obstacles on a plane is constructed using a multi-slit laser projector. The sensor consists of a commercially available laser projector and a CCD camera. It measures a relative disparity map (RDMap) whose measurement errors are not affected by the distance. From the obtained RDMap, a plane is estimated using RANSAC and regions out of the plane are detected as obstacles. Experiments show that planes can be obtained with small errors in RDMaps with the constructed sensor, and that a humanoid with the constructed sensor can detect small obstacles such as a moving ping-pong ball and a LAN cable on a plane by the proposed methods while walking.

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  • Detection of moving objects with removal of cast shadows and periodic changes using stereo vision Reviewed

    A. Moro, K. Terabayashi, K. Umeda

    Proceedings - International Conference on Pattern Recognition   328 - 331   2010

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    In this paper we present a method for the detection of moving objects for unknown and generic environments under cast shadow and periodic movements of non relevant objects (like waving leaves), using a combination of non-parametric thresholding algorithms and local cast shadow analysis with stereo camera information. Good detection rates were achieved in several environments under different lighting conditions, and objects could be detected independently of scene illumination, shadow, and periodic changes. © 2010 IEEE.

    DOI: 10.1109/ICPR.2010.89

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  • Multi-object segmentation in a projection plane using subtraction stereo Reviewed

    Toru Ubukata, Kenji Terabayashi, Alessandro Moro, Kazunori Umeda

    Proceedings - International Conference on Pattern Recognition   3296 - 3299   2010

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    We propose a method for multi-object segmentation in a projection plane. Our algorithm requires a stereo camera system called Subtraction Stereo, which extracts foreground information with a fixed stereo camera. The main contribution of this paper is how the image sequences that include partial occlusion of the foreground objects can be accurately segmented using mean shift clustering in real-time processing. The proposed method is suitable for inside a medium-sized environment, such as a room. Finally, we try to segment the sequences that include occlusion and show the accuracy of the proposed method. © 2010 IEEE.

    DOI: 10.1109/ICPR.2010.806

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  • Measurement of Three Dimensional Environment with a Fish-eye Camera Based on Structure From Motion - Error Analysis Reviewed

    Kenji Terabayashi, Hisanori Mitsumoto, Toru Morita, Yohei Aragaki, Noriko Shimomura, Kazunori Umeda

    Journal of Robotics and Mechatronics   21 ( 6 )   680 - 688   2009.12

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  • Correction of color information of a 3D model using a range intensity image Reviewed

    Megumi Shinozaki, Masato Kusanagi, Kazunori Umeda, Guy Godin, Marc Rioux

    COMPUTER VISION AND IMAGE UNDERSTANDING   113 ( 11 )   1170 - 1179   2009.11

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    Most active optical range sensors record, simultaneously with the range image, the amount of light reflected at each measured surface location: this information forms what is called a range intensity image, also known as a reflectance image. This paper proposes a method that uses this type of image for the correction of the color information of a textured 3D model. This color information is usually obtained from color images acquired using a digital camera. The lighting condition for the color images are usually not controlled, thus this color information may not be accurate. On the other hand the illumination condition for the range intensity image is known since it is obtained from a controlled lighting and observation configuration, as required for the purpose of active optical range measurement. The paper describes a method for combining the two sources of information, towards the goal of compensating for a reference range intensity image is first obtained by considering factors such as sensor properties, or distance and relative surface orientation of the measured surface. The color image of the corresponding surface portion is then corrected using this reference range intensity image. A B-spline interpolation technique is applied to reduce the noise of range intensity images. Finally, a method for the estimation of the illumination color is applied to compensate for the light source color. Experiments show the effectiveness of the correction method using range intensity images. (C) 2009 Elsevier Inc. All rights reserved.

    DOI: 10.1016/j.cviu.2009.03.015

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  • 個体差の統計分析に基づく多様な形状特徴を持つ手指有限要素モデルの生成 Reviewed

    多田充徳, 野原 健, 梅田和昇, 持丸正明

    日本機械学会論文集C   75 ( 758 )   2765 - 2772   2009.10

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    We analyzed individual differences of finger geometry in order to synthesize finite element models with geometric variations. Volume registration technique was employed to quantify the individual differences from 3-dimensional MRI images of 50 male subjects. The registration method computes a displacement field that transforms geometry of the template subject into that of the target subject, thus the displacement field is a good measure of the geometric difference between two different subjects. The result of principal component analysis for the computed displacement fields has clarified the principal features of finger geometry corresponding to dirmension, thickness, thickness of finger pad, ratio of bone length and direction of bending. We can synthesize possible variations of finger geometry by transforming a template FE model according to a displacement field computed by weighted sum of these principal features.

    DOI: 10.1299/kikaic.75.2765

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  • 実物体の三次元モデル生成における距離濃淡画像を利用した色情報の改善 Reviewed

    草彅真人, 篠崎めぐみ, 寺林賢司, 梅田和昇, ギー・ゴダン,マーク・リュウ

    電子情報通信学会論文誌   J92-D ( 7 )   1045 - 1055   2009.7

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  • インテリジェントルームのためのDPマッチングを用いた口唇動作認識 Reviewed

    中西達也, 寺林賢司, 梅田和昇

    電気学会論文誌C   129-C ( 5 )   940 - 946   2009.5

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  • Observing Real-World Attention by a Laser Scanner Reviewed

    Yasunori Yakiyama, Niwat Thepvilojanapong, Masayuki Iwai, Oru Mihirogi, Kazunori Umeda, Yoshito Tobe

    PSJ Transactions on Advanced Computing Systems (ACS)   2 ( 1 )   173 - 186   2009.3

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    Although human activities in the World Wide Web are increasing rapidly due to the advent of many online services and applications, we still need to appraise how things such as a merchandise in a store or pictures in a museum receive attention in the real world. To measure people's attention in the physical world, we propose SPAL, a Sensor of Physical-world Attention using Laser scanning. It is challenging to use a laser scanner because it provides only front-side circumference of any detected objects in a measurement area. Unlike cameras, a laser scanner poses no privacy problem because it does not recognize and record an individual. SPAL includes many important factors when calculating people's attention, i.e., lingering time, direction of people, distance to a target object. To obtain such information for calculation, we develop three processing modules to extract information from raw data measured by a laser scanner. We define two attention metrics and two measurement models to compute people's attention. To validate the proposed system, we implemented a prototype of SPAL and conducted experiments in the real-world environment. The results show that the proposed system is a good candidate for determining people's attention.

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  • Many Thanks for Publishing a Special Issue on "Current and Future States of Image Technology and Application in Real World"(<Special Issue>Current and Future States of Image Technology and Application in Real World)

    Journal of the Japan Society of Precision Engineering   75 ( 2 )   207 - 207   2009.2

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    DOI: 10.2493/jjspe.75.207

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  • Future Prospect of Industrial Application of Image Processing in JSPE : Its Latent Property and Philosophy(<Special Issue>Current and Future States of Image Technology and Application in Real World)

    KOSHIMIZU Hiroyasu, HASHIMOTO Manabu, KURUMISAWA Makoto, UMEDA Kazunori

    Journal of the Japan Society of Precision Engineering   75 ( 2 )   213 - 219   2009.2

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    DOI: 10.2493/jjspe.75.213

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  • 複数の魚眼カメラを用いた俯瞰画像生成手法の構築 Reviewed

    加瀬翔太, 光本尚訓, 新垣洋平, 下村倫子, 梅田和昇

    精密工学会誌   75 ( 2 )   251 - 255   2009.2

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  • 小型距離画像センサを用いた二足歩行ロボットの障害物検出および回避行動生成(セッション3,サマーセミナー(若葉研究者の集い))

    黒木 崇博, 寺林 賢司, 梅田 和昇

    映像情報メディア学会技術報告   33   47 - 48   2009

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    本研究では,二足歩行ロボットに小型距離画像センサを搭載して,歩行中に障害物検出および回避行動生成を行う手法を提案する.小型距離画像センサから得られる相対視差画像を用いて歩行可能平面と障害物を検出する.実験により,生活空間における本手法の有効性を示す.

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  • Measurement of pedestrians in urban environment using subtraction stereo Reviewed

    Kenji Terabayashi, Yuki Hashimoto, Yuma Hoshikawa, Kazunori Umeda

    INSS2009 - 6th International Conference on Networked Sensing Systems   240   2009

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    This paper discusses a method to detect and measure pedestrians in urban environment using "subtraction stereo." Subtraction stereo is a stereo vision method that calculates distance only for moving regions to make the stereo matching robust and fast. Pedestrians are detected based on their three dimensional features, which are position, height, width, and so on, obtained from a range image by standard labeling. The number of pedestrians in groups is estimated from their area on a range image. In urban environments, the effectiveness of this method is verified by experiments using a stereo camera which is commercially available and implemented with subtraction stereo. ©2009 IEEE.

    DOI: 10.1109/INSS.2009.5409909

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  • Measurement of pedestrian groups using subtraction stereo Reviewed

    Kenji Terabayashi, Yuki Hashimoto, Kazunori Umeda

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   5876 ( 2 )   538 - 549   2009

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    In this paper, detection of pedestrian groups and counting of the number of pedestrians in each group using "subtraction stereo" are discussed. Subtraction stereo is a stereo vision method that focuses on the movement of objects to make a stereo camera robust and produces range images for moving regions. Pedestrian groups are detected with a standard labeling, and three dimensional (3D) features of pedestrian groups are measured from range images obtained by subtraction stereo. Then a method to count the number of pedestrians in a group is proposed. The basic algorithm of the subtraction stereo is implemented on a commercially available stereo camera, and the effectiveness of the method to count the number of pedestrians is verified by experiments using the stereo camera. © 2009 Springer-Verlag.

    DOI: 10.1007/978-3-642-10520-3_51

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  • Effective Adaptation to Experience of Different-Sized Hand Reviewed

    Kenji Terabayashi, Natsuki Miyata, Jun Ota, Kazunori Umeda

    ADVANCES IN VISUAL COMPUTING, PT 2, PROCEEDINGS   5876   1002 - +   2009

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    This paper reports the effect of pre-operation intended to familiarizing oneself with vicarious experiences of different-sized hands. To measure this effect, the index of degree of immersion (DOI) is proposed which represents whether observed behavior is appropriate for the presented hand size. The DOI is measured for various sizes of hands when changing type of pre-operation which is classified based on relationship between hands and objects. The experimental results show that the pre-operation is effective for familiarizing the presented sized hand. especially in larger sized hands, and that behavior of touching and controlling an object in position is important for effective pre-operation.

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  • 周期運動検出に基づくジェスチャ認識の汎用化に関する検討(セッション5,サマーセミナー(若葉研究者の集い))

    高橋 真人, 入江 耕太, 寺林 賢司, 梅田 和昇

    映像情報メディア学会技術報告   33   79 - 80   2009

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    本稿では,汎用的な周期ジェスチャ認識手法の構築を目指し,周期運動領域の重心座標を利用した手の動作領域抽出手法を提案している.実験を行い,提案手法を用いることにより的確に手の動作領域を抽出可能であること,各ジェスチャの認識率が向上することを確認し,有効性を示している.

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  • カメラ特性を再現するカメラシミュレータの構築と簡便なパラメータ取得手法の提案 Reviewed

    岡留直人, 新垣洋平, 下村倫子, 梅田和昇

    精密工学会誌   74 ( 8 )   870 - 876   2008.8

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    In this paper, a camera simulator that simulates camera properties and simple methods to obtain its parameters are proposed. The camera simulator simulates distortion, limb darkening, blur by defocus, blur by aberration, motion blur, variation of pixel sensitivity, random noise, gamma correction, and salt and pepper noise. As for methods to obtain camera parameters, parameters of blur by aberration and distortion are obtained by getting an image of a stripe pattern, and parameters of limb darkening, variation of pixel sensitivity, random noise and salt and pepper noise are obtained by getting a number of images using a camera covered by a diffuser. Fundamental experiments show that the constructed Camera Simulator and the proposed methods to obtain camera parameters are effective.

    DOI: 10.2493/jjspe.74.870

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  • Time Optimal Control for Quadruped Walking Robots Reviewed

    Hisashi OSUMI, Shogo KAMIYA, Yuji HASEGAWA, Kazunori UMEDA, Ryuichi UEDA, Tamio ARAI

    Transactions of the Japan Society of Mechanical Eengineers (C)   74 ( 742 )   1501 - 1507   2008.6

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    Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Each leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, each leg supports their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP(zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified.

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  • マルチスポットレーザプロジェクタを用いた200Hz小型距離画像センサの構築 Reviewed

    立石雅輝, 石山英俊, 梅田和昇

    日本機械学会論文集C編   74 ( 739 )   499 - 505   2008.3

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  • Subtraction Stereo - A Stereo Vision Suitable for Surveillance Applications - Reviewed

    Tatsuya Nakanishi, Yuuki Hashimoto, Kota Irie, Kazunori Umeda

    INSS 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON NETWORKED SENSING SYSTEMS   246 - 246   2008

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    We demonstrate "Subtraction Stereo", a simple and robust stereo vision algorithm that is suitable for surveillance applications such as detection of pedestrians.

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  • High-Precision MRI-Compatible Force Sensor with Parallel Plate Structure Reviewed

    Takashi Tokuno, Mitsunori Tada, Kazunori Umeda

    2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2   33 - +   2008

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    This paper presents an MRI-compatible optical force sensor: its principle, structure and performance. Our force sensor employs an optical micrometry based on differential measure of light intensity. This technology enables highly accurate and sensitive two degrees-of-freedom displacement sensing by using a point source, a photo detector and an optical lens. The developed force sensor achieves MRI compatibility by placing all the electric and metallic components outside MRI, and connecting the light path between the optical components by using multi-core optical fibers. The sensor head component has parallel plate structure and is made of glass fiber reinforced poly-ether-ether-keton those help reducing axial interference and hysteresis characteristics of plastic resin. The accuracy of this force sensor is better than 1.6 %F.S. under the applied force ranging from 0 to 3 N.

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  • A 200Hz small range image sensor using a multi-spot laser projector Reviewed

    Masateru Tateishi, Hidetoshi Ishiyama, Kazunori Umeda

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   3022 - +   2008

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    In this paper, a high-speed range image sensor using a multi-spot laser projector is constructed. Several highspeed range image sensors have been developed recently. Their sampling rate is around the video rate (30Hz or so) and a faster sensor is required. The proposed sensor has achieved 200Hz measurement. It consists of a commercially available laser projector and a high-speed CCD camera. The number of pixels is 361 and the measurement range is 800-2000mm. Although the acquired range image is sparse, the proposed sensor is thought to be adequate for several applications such as robot vision because of its high-speed imaging and compactness. Some characteristics such as measurement errors are discussed, and the effectiveness of the proposed sensor is verified by experiments.

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  • Development of Obstacle Recognition System of Humanoids Using Relative Disparity Maps from Small Range Image Sensors Reviewed

    Naotaka Hikosaka, Kei Watanabe, Kazunori Umeda

    Journal of Robotics and Mechatronics   19 ( 3 )   290 - 297   2007.6

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  • Range measurement using a digital camera flash Reviewed

    Naoya Ogawa, Kazunori Umeda

    Journal of Robotics and Mechatronics   19 ( 1 )   77 - 84   2007.2

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  • ジェスチャ認識に基づくインテリジェントルームの構築 Reviewed

    入江耕太, 若村直弘, 梅田和昇

    日本機械学会論文集C編   73 ( 725 )   258 - 265   2007.1

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  • Obstacle detection of a humanoid on a plane using a relative disparity map obtained by a small range image sensor Reviewed

    Naotaka Hikosaka, Kei Watanabe, Kazunori Umeda

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   3048 - +   2007

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    In this paper, methods for detecting obstacles on a plane using a relative disparity map (RDMap) are proposed and discussed. The RDMap, which was formerly introduced by the author Umeda, is relative to a plane that is observed at first as the reference. It has an interesting feature that a plane in real 3D space also becomes a plane in the map, and has homogeneous characteristics compared to an ordinary range image. The proposed methods work even when the pose of the sensor changes significantly, which is the case in humanoid walking. First, a method to detect planar regions and obstacles by fitting a plane to the RDMap and a method to obtain the pose parameters from the RDMap are introduced. Fundamental experiments are then conducted to verify that a plane in real 3D space becomes a plane in the RDMap and that obstacles can be detected using the residual sum of squares for the fitted plane, and measurement errors in pose parameters are then evaluated. Finally, an experimental system with a humanoid and a small range image sensor is constructed, and it is demonstrated that the humanoid can detect obstacles on a plane by the proposed methods while walking.

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  • 3D measurement lay distributed camera system for constructing an intelligent room Reviewed

    Kota Irie, Masaki Wada, Kazunori Umeda

    INSS 07: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON NETWORKED SENSING SYSTEMS   118 - +   2007

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    We are constructing an intelligent room in which an operator can control home appliances such as a TV set with intuitive gestures. In this paper, we discuss three dimensional (3D) measurement of the intelligent room using a distributed camera system. The room carries CCD cameras with pan, tilt, and zoom functions. An operator makes hand waving and the room detects it. 3D position of the waving hand is measured using the cameras, and then pan, tilt and zooming-up of the cameras are carried out with the 3D information. A hand region is extracted using the color information, and the operator's gestures are recognized. 3D Finger pointing to select an appliance is measured using the cameras. Experiments verify the effectiveness of the proposed 3D measurement methods.

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  • 画像の輝度値の統計量を用いた移動ロボットの自己位置同定 Reviewed

    渋谷典之, 梅田和昇

    日本ロボット学会誌   24 ( 4 )   506 - 514   2006.5

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  • Correction of intensity of a color image using a range intensity image Reviewed

    Megurni Shinozaki, Kazunori Umeda, Guy Godin, Marc Rioux

    18TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION, VOL 3, PROCEEDINGS   774 - +   2006

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    This paper proposes a method of correcting intensity of a color image, which is used for the texture of a 3D model, using a range intensity image. A range intensity image has an effective characteristic that it is obtained under controlled illumination. This enables correction of the intensity of the color image without estimating illumination for the color image. Experiments show the effectiveness of the proposed method and a 3D model with proper color information generated by the method.

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  • Self-localization of a mobile robot using compressed image data of average and standard deviation Reviewed

    Noriyuki Shibuya, Kazunori Umeda

    18TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION, VOL 4, PROCEEDINGS   614 - +   2006

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    In this paper, an image-based self-localization method is proposed for a mobile robot. Images are compressed for each column, and the average and standard deviation of the pixels in each column are used. Environmental and observational data, which are the compressed image data at the registration and observational stages, are matched, and the position of the robot is obtained. The entire environment can be represented continuously with a small amount of data. A simple and robust matching method based on a voting process is introduced. The methods are evaluated through several experiments with omnidirectional images.

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  • カメラ特性を考慮した複数自律移動ロボットのための環境・計測シミュレータの開発 Reviewed

    梅田和昇, 浅沼和範, 菊地敏文, 上田隆一, 大隅 久, 新井民夫

    日本ロボット学会誌   23 ( 7 )   878 - 885   2005.10

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    In this paper, a simulator of environment and measurement that considers camera characteristics is developed for multiple autonomous mobile robots. RoboCup 4-legged robot league is chosen as the concrete target. The simulator introduces a sever/client system, and realizes separation of each robot's information, introduction of each robot's difference and distribution of processes. OpenGL is utilized to produce virtual images. So as to make a simulator reflect real environment, sensing noises should be considered. The simulator considers the effects of blur, element noises, vignetting, lens distortion and delayed exposure for each line of the CMOS image sensor. Experiments show the similarity between actual camera images and simulated camera images. Consequently, it is possible to verify programs for multiple autonomous mobile robots on the simulator, and therefore the proposed simulator is a useful tool for effective development of algorithms.

    DOI: 10.7210/jrsj.23.878

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  • こう配拘束と距離濃淡画像を用いた距離画像とカラー画像のレジストレーション Reviewed

    梅田和昇, ギー・ゴダン,マーク・リュウ

    電子情報通信学会論文誌   88-D-II ( 8 )   1469 - 1479   2005.8

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  • 画像処理による自動車の自動教官システム-車線変更時における目視確認モジュールの構築- Reviewed

    伊藤益夫, 梅田和昇

    精密工学会誌   71 ( 8 )   1046 - 1050   2005.8

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    So as to improve the road safety, not only the safety of the vehicles but also the nature of drivers has to be considered. This paper proposes a concept of automatic instruction system that instructs a driver to improve his or her safety of driving using image processing techniques. So to speak, the system substitutes for an instructor at a driving school. An example of the modules of the system is constructed : it warns the driver if he or she has forgotten to turn his/her head when the driving lane is changed. Changing lanes is recognized by extracting white lines. On the other hand, face turning is recognized by extracting face and nose regions. These two are done simultaneously and whether the driver follows the rule at changing lanes is judged. Experiments show the effectiveness of the constructed module. Additionally, interviews for subjects indicate the effectiveness of the concept of automatic instruction system.

    DOI: 10.2493/jspe.71.1046

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  • 連続逐次2点法によるSi基板平面形状測定に関する研究 Reviewed

    何 偉銘, 井原 透, 梅田和昇, 佐藤壽芳, 谷 泰弘, 奥野 昇, 高橋満雄

    砥粒加工学会誌   49 ( 6 )   328 - 334   2005.6

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  • パーティクルフィルタを利用した自己位置推定に生じる致命的な推定誤りからの回復法 Reviewed

    上田隆一, 新井民夫, 浅沼和範, 梅田和昇, 大隅 久

    日本ロボット学会誌   23 ( 4 )   466 - 473   2005.5

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    Though Monte Carlo localization is a popular method for mobile robot localization, it requires a method for recovery of large estimation error in itself. In this paper, a recovery method, which is named an expansion resetting method, is newly proposed. The combination of the expansion resetting method and the sensor resetting method, which is a typical resetting method, is also proposed. We then compared our methods and others in a simulated RoboCup environment. Typical accidents for mobile robots were produced in the simulator during trials. We could verify that the expansion resetting method was effective for recovery from small irregular changes of a robot's pose, and that the combination method could deal with both large and small irregular changes.

    DOI: 10.7210/jrsj.23.466

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  • Fusion of multiple ultrasonic sensor data and image data for measuring an object's motion Reviewed

    Kazunori Umeda, Jun Ota, Hisayuki Kimura

    Journal of Robotics and Mechatronics   17 ( 1 )   36 - 43   2005.2

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  • Range measurement by a digital camera using flash Reviewed

    Naoya Ogawa, Kazunori Umeda

    Proceedings of SPIE - The International Society for Optical Engineering   6051   2005

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    Various methods have been proposed until now for range measurement or three dimensional shape reconstruction. However, most of them need a large-scale equipment or a special environment. This paper proposes a technique which obtains a range image easily under a general environment using only an off-the-shelf digital camera. Distance is calculated by obtaining the irradiance of scene lighted by the flash of a digital camera using the fact that the intensity of reflected light of the flash is inversely proportional to the square of the distance from the object. The irradiance is obtained by subtracting an image without the flash from an image with the flash. The image without the flash is used to obtain the reflectance ratio at each pixel. The intensity of reflected light of the flash is affected by the inclination of the object surface. A method to estimate the inclination at each pixel is proposed which uses the change of the irradiance in adjacent pixels. The inclination is formulated as the function of the rate of change, and thus the inclination can be calculated by the rate which is easily obtained from the image. Additionally, color information is simultaneously obtained because visible light is used. Assumptions in the method are that the object surface has no specular reflection and the flash is set at the same position as the center of the lens. Experiments show that a range image is roughly obtained by the proposed method, and furthermore, that proper distance is obtained for inclined surfaces.

    DOI: 10.1117/12.647730

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  • Correction of color information of a 3D model using a range intensity image Reviewed

    Kazunori Umeda, Megumi Shinozaki, Guy Godin, Marc Rioux

    Proceedings of International Conference on 3-D Digital Imaging and Modeling, 3DIM   229 - 236   2005

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    A range intensity image, which is also called a reflectance image, refers to the intensity image that is acquired simultaneously with the range image captured using an active range sensor. This paper proposes a method that uses this image to correct the color information of a textured 3D model. The color information is usually obtained by texture mapping of color images acquired by a digital camera. The lighting condition for the color images are usually not controlled, thus the color information is not precise. On the other hand, the lighting condition for the range intensity image is controlled since it is obtained from a controlled and known lighting as required for the purpose of range measurement. The paper describes the method for combining the two sources of information
    experiments show the effectiveness of the correction method. © 2005 IEEE.

    DOI: 10.1109/3DIM.2005.29

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  • An input method of Japanese characters by recognizing the number of fingers Reviewed

    Takashi Yamagishi, Kazunori Umeda

    Journal of Robotics and Mechatronics   16 ( 4 )   420 - 425   2004.8

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  • Registration of range and color images using gradient constraints and range intensity images Reviewed

    Kazunori Umeda, Guy Goding, Marc Rioux

    Proceedings - International Conference on Pattern Recognition   3   12 - 15   2004

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    This paper proposes a method for the registration of range and color (or intensity) images, based on the range intensity image that is simultaneously acquired with a range image. The gradient constraint between the range intensity image and the color image is introduced, and a linear equation for the registration parameters is derived, which combines displacement estimations for extrinsic and intrinsic parameters. By using the equation, precise automatic registration without explicit detection of correspondences is achieved. Experimental results illustrate the proposed method.

    DOI: 10.1109/ICPR.2004.1334457

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  • 濃淡値の時系列変化を利用した画像からの手振りの検出 Reviewed

    入江耕太, 梅田和昇

    日本ロボット学会誌   21 ( 8 )   923 - 931   2003.11

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    This paper proposes a method of detecting waving hands from images as a key technology for man-machine interface. FFT is applied to time series of intensity images. The images are converted to low-resolution ones, and FFT is applied to each pixel of the low-resolution images. The proposed method is robust to lighting condition and individual difference of skin color, because it doesn't use color information at all. Experiments show the stability and robustness of the proposed method. Additionally, the method is applied to an omnidirectional vision images and an infrared camera, so as to show the wide applicability of the method.

    DOI: 10.7210/jrsj.21.923

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  • 逐次2点法による三次元測定装置の誤差空間評価 Reviewed

    曽根哲夫, 何 偉銘, 梅田和昇, 佐藤壽芳, 谷 泰弘, 相良 誠, 松崎敬彦

    機械の研究   55 ( 11 )   1142 - 1149   2003.11

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  • 逐次2点法によるシリコン基板の平面形状測定に関する研究(第1報 支持条件を考慮した直径及び外円周形状測定 Reviewed

    何 偉銘, 佐藤壽芳, 梅田和昇, 小張建国, 谷 泰弘, 奥野 昇, 高橋満雄

    日本機械学会論文集C編   69 ( 682 )   1618 - 1625   2003.6

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    In the progress of semiconductor technology, the diameters of Si substrates are increasing and the flatness accuracy is being raised. However, the evaluation method has not been accomolished. The sequential-two-points method, which was originally developed to evaluate straightness error motion of the tool as well as error profile of machined parts in machine tool, is applied to evaluate surface form of the flatness on the substrates. Forms along diameters and periphery are measured as a step to construct form of flatness on polar coordinate. Resolution of the capacitor type sensors are calibrated with order of nm, so that the measurable accuracy, of the method is assured and the straightness error from of 0.3 μm along diameter have been obtained, on the other hand which can be easily deformed by boundary conditions of support.

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  • 移動ロボットによる押し運び作業のための視覚システム

    岸本幸一郎, 梅田和昇

    日本機械学会論文集C編   69 ( 679 )   669 - 675   2003.3

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  • インターネットを介した移動ロボットの遠隔操作におけるユーザインタフェース

    浅沼和範, 梅田和昇

    日本機械学会論文集C編   68 ( 673 )   2702 - 2709   2002.9

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  • Simple Compound-Eye-Type Micro Vision Sensor and Its Application for Detecting Motion,

    Kazunori Umeda, Michiaki Sekine

    J. Robotics and Mechatronics   14 ( 2 )   193 - 198   2002.4

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  • 多芯光ファイバアレイ自動組立装置の研究

    和田将典, 長城尚人, 中西裕一, 近藤好正, 梅田和昇, 保坂寛, 板生清

    マイクロメカトロニクス   45 ( 3 )   31 - 38   2001.9

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  • Study on Automatic Assembly Machine of Optical Fiber Array Reviewed

    Masanori WADA, Naoto NAGAKI, Yuichi NAKANISHI, Yoshimasa KONDO, Kazunori UMEDA, Hiroshi HOSAKA, Kiyoshi ITAO

    Proc. 3rd IFToMM International Micromechanisms Symposium   43 - 47   2001.9

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  • ジェスチャ認識を用いた移動ロボットの操作システム

    田中信也, 梅田和昇

    電気学会論文誌C   121-C ( 9 )   1457 - 1463   2001.9

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  • 構造が単純な複眼型マイクロ視覚センサの構築

    関根倫明, 梅田和昇

    マイクロメカトロニクス   45 ( 2 )   54 - 62   2001.6

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    Micro vision scnsors are required for milli machines or micro machines. In this paper, a prototype of a compound-eye-type micro vision sensor that imitates insect's vision is constructed. The validity of the constructed sensor is verified by simulation and experiments to obtain images. Additionally, a method to detect optical flow with the sensor is proposed.

    DOI: 10.20805/micromechatronics.45.2_54

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  • Measurement of 3D fundamental features by fusion of range, intensity and tactile images

    K Umeda, G Kinoshita

    MFI2001: INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS   177 - 182   2001

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    This paper proposes methods of fusing range images, intensity images and tactile images. The methods are intended for applying to distributed sensing of multiple mobile robots. As the features for fusion, practically important and possible to robustly extract ones are selected: planar regions and cylindrical regions for range images, linear edges for intensity images and planar regions and linear edges for tactile images. The fusion methods to measure a 3D edge and a cylinder are constructed and formulated by utilizing least square approach. Additionally, fusion of these features measured by multiple mobile robots is discussed. The measurement of 3D edges and cylinders are verified by experiments.

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  • Dynamic contact sensing of soft planar fingers with tactile sensors

    G Kinoshita, Y Kurimoto, H Osumi, K Umeda

    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS   565 - 570   2001

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    This paper focuses on a method of estimating contact force dynamically between environment and an object, which is grasped by the soft planar fingers with tactile sensors. The external contact force acting on the grasped object causes the tactile sensors to generate the displacement distributions and the for-cc distributions, We present a method of dynamic tactual image acquisitions for both distributions at the pseudo video rate. Experimental results show the measurement of the tactual image flows due to the deflection of an object and the magnitude and orientation of force vectors operating on the finger according to the external contact for-cc. The contact position of the external force acting on the grasped object is estimated within 15 % from the tactual image distributions.

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  • GPS速度データを基にした人の位置計測

    鳥海祐介, 苗村潔, 梅田和昇, 保坂寛, 板生清

    マイクロメカトロニクス   44 ( 4 )   48 - 55   2000.12

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    Wireless Location services have recently attracted much interest. To know mobile caller's location opens a new class of services and products. In this paper, individual, simple and widely applicable methods which utilize GPS unit only are investigated. We use the velocity data from the unit and propose new method for human navigation. Firstly, devices, the best position of the GPS antenna installation was examined. Secondly, the accuracy of the position measurement using the method on an ideal condition was investigated. The experiments show that the best position to wear the GPS antenna for using the method was the "head", the accuracy was about 10%. We also proposed the map matching method that revise position data measured by the proposed human navigation method.

    DOI: 10.20805/micromechatronics.44.4_48

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  • Toy and Robotics in the 21st Century

    JRSJ   18 ( 2 )   46 - 50   2000.3

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    DOI: 10.7210/jrsj.18.204

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  • 高コンプライアンス形触覚センサの開発とその物体表面の曲率推定への応用

    木下源一郎, 菅野泰夫, 大隅久, 梅田和昇, 村奈嘉与一

    電気学会論文誌C   120-C ( 3 )   390 - 396   2000.3

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  • 距離動画像を用いた頭部ジェスチャの認識

    梅田和昇, 鈴木範史

    日本ロボット学会誌   17 ( 4 )   549 - 556   1999.5

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  • 距離画像と濃淡画像との融合による実時間形状認識

    梅田和昇

    平成8年度~平成9年度科学研究費補助金(基盤研究(C)(2))研究成果報告書   1 - 114   1998.3

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  • 昆虫の視覚系を模擬した複眼センサによる位置計測 Reviewed

    猿山将臣, 梅田和昇

    日本時計学会誌   162   1 - 12   1997.9

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    In this paper, fundamental constitution of micro compound eye sensor, and a method to measure 3D position of an object by two compound eye sensors are proposed. Milli-machines and micromachines are becoming more and more important these days, and thus the improvement of micro vision sensor is required. This paper aims to improve an artificial compound eye sensor which imitates insect's vision system. A simple compound eye sensor which consists of photo sensors and a simple cover is proposed. The method to measure 3D position is verified by experiments using a macro-model of the compound eye sensor.

    DOI: 10.20805/tokeieafj.162.0_1

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  • Tactual Servoing on an Object's Surface with the Visual Information Reviewed

    Kazunori UMEDA, Gen-ichiro KINOSHITA, Hisashi OSUMI

    Proc. Advanced Intelligent Mechatronics(CDROM).   1997.6

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  • Three-dimensional vision system for mechanical assembly/disassembly Reviewed

    K Umeda, T Arai

    ADVANCED ROBOTICS   11 ( 2 )   147 - 167   1997

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    This paper proposes a three-dimensional (3D) vision system based on range image processing for mechanical assembly and disassembly. In the field of assembly and, moreover, because of the increasing importance of recycling of industrial products, in the field of disassembly, a more flexible vision system is required. Conventional intensity image processing is not sufficient and so a 3D vision system is required. A prototype of a vision system with a high-speed range image sensor is constructed, and its robustness for assembly and disassembly is verified by experiments to detect a target region (dial of an audio amplifier) with blemishes. Shape recognition algorithms which are applicable to sparse range images of the 3D vision system are introduced. They utilize primitive surface features such as planar or cylindrical surfaces as features for model matching. Fundamental experiments show the effectiveness of the general shape recognition algorithms.

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  • Fast Vision System for Bin-Picking Using Sparse Range Image

    Umeda,k, Arai,T

    Journal of Advanced Automation and Technology   6 ( 6 )   371 - 376   1994.11

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  • 粗い距離画像を用いた高速ビンピッキング視覚システムの構築 Reviewed

    梅田和昇, 新井民夫

    精密工学会誌   60 ( 6 )   858 - 862   1994.6

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    Visual functions for bin picking are realized fast by utilizing a sparse range image. The functions are composed of (1) detection of a necessary part from a lot of parts piled on each other, and (2) measurement of its three dimensional position and orientation. Framework of the vision system is discussed on the assumption that a shape model of the necessary part is given. Method of fast segmentation of a sparse range image is presented for the part's detection. Four kinds of shapes: polyhedra, cylinder, cone and sphere are chosen as important shapes for industrial bin-picking, and for each shape, examination if a segment of a sparse range image is the shape, and measurement of its three dimensional position and orientation are shown. Experiments with a real fast range sensor and a personal computer show that the presented vision system is fast: total process time is less than 1.5 s for multiple piled cylinders.

    DOI: 10.2493/jjspe.60.858

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  • Development of Real-Time Position/Orientation Measuring System for Multiple Mobile Robot System

    ARAI Tamio, KIMURA Hisayuki, MAEDA Kentaro, OTA Jun, UMEDA Kazunori

    JRSJ   12 ( 3 )   138 - 144   1994.4

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    Measuring relative positions among robots are essential to avoid collision and to coordinate one another. This paper proposes a signboard system and an algorithm to measure the relative positions among mobile robots in realtime. The system consists of a CCD camera and signboards with LEDs, whose 2D images are obtained by a CCD camera loaded on a different robot. The algorithm first separates the image into each signboard, and second detects the position and the orientation of the target robot. Error analysis made it possible to measure the orientation of the target robot in 360 degree with the minimum errors. The experiments with 3 mobile robots indicates that one robot can measure the other two position with the accuracy of 5% in distance within 0.4 second, in the range of 0.5 to 3 meters. The measuring speed is fast enough to calcuate the collision avoidance. The experiments verified the system is very efficient.

    DOI: 10.7210/jrsj.12.472

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  • 移動ロボット相互の位置・姿勢実時間計測システムの開発 Reviewed

    新井民夫

    日本ロボット学会誌   12 ( 3 )   472 - 478   1994.4

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  • 距離画像を用いた3次元運動の計測における運動計測性の評価 Reviewed

    梅田和昇, 新井民夫

    情報処理学会論文誌   34 ( 10 )   2165 - 2173   1993.10

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Books

  • 人間情報学 快適を科学する

    板生 清監修, 人間情報学会編( Role: Joint author)

    近代科学社Digital  2021.12 

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    Responsible for pages:pp.164-168   Language:Japanese   Book type:Scholarly book

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  • 三次元画像センシングの新展開-リアルタイム・高精度に向けた要素技術から産業応用まで

    岩堀 祐之監修( Role: Joint author)

    エヌ・ティー・エス  2015.5 

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  • Stereo Vision

    Asim Bhatti( Role: Joint author)

    InTech Education and Publishing  2008.11 

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    Responsible for pages:121-130   Language:English   Book type:Scholarly book

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  • 新版 ロボット工学ハンドブック

    日本ロボット学会編( Role: Joint author)

    コロナ社  2005.6 

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    Responsible for pages:550-553   Language:Japanese   Book type:Scholarly book

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  • 新実践画像処理

    Fest Project, 編集委員会編( Role: Joint author)

    リンクス  2001.6 

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  • Human Friendly Mechatronics

    Eiji Arai, Tatsuo Arai, Masaharu Takano( Role: Joint author)

    Elsevier  2001.3 

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    Total pages:400   Responsible for pages:223-228   Language:English   Book type:Scholarly book

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  • The Industrial Electronics Handbook

    Editor-in-Chief, J.Darvid Irwin,others( Role: Joint author)

    CRC Press  1997.5 

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    Total pages:1728   Responsible for pages:1615-1622   Language:English   Book type:Scholarly book

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  • Fusion of Range Images and Intensity Images Measured from Multiple View Points

    Umeda, K, Ikushima, K( Role: Joint author)

    Springer-Verlag The Erwin Mellen Press  1996.11 

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    Total pages:430   Responsible for pages:411-422   Language:English   Book type:Scholarly book

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MISC

  • 物体追跡のための物体検出しきい値の深層学習による最適推定

    三浦一真, 橘川拓実, PATHAK Sarthak, 梅田和昇

    画像センシングシンポジウム講演資料集(Web)   29th   2023

  • 都心キャンパス群における文理融合とセンサフュージョン—特集 文と理の彼方

    梅田 和昇

    中央評論 = The Chuo Univ. review / 中央評論編集部 編   75 ( 2 )   16 - 23   2023

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    Language:Japanese   Publisher:八王子 : 中央評論編集部  

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  • 工場内の台車に取り付けたARマーカ認識システムの提案

    橘川 拓実, 高橋 正裕, 梅田 和昇, Alessandro MORO, 原田 佳周, 西川 英雄, 野口 稔, 濱谷 章史

    画像ラボ   33 ( 2 )   9 - 17   2022.2

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  • 距離濃淡画像を用いた2D/3Dレジストレーションにおけるマッチング特徴量の検討 (メディア工学) -- (サマーセミナー2017 : 世界に羽ばたくビジョン技術)

    増村 駿, 増山 岳人, 梅田 和昇

    映像情報メディア学会技術報告 = ITE technical report   41 ( 29 )   15 - 18   2017.9

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  • 距離画像計測手法の概要とその動向

    梅田 和昇

    自動化推進   46 ( 3 )   2 - 5   2017

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  • ViEWとアルコン—IAIP最新活動報告—

    梅田 和昇, 寺田 賢治, 野口 稔

    精密工学会誌   82 ( 10 )   841 - 845   2016.10

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  • 魚眼カメラを用いたSfMによる3次元復元 : カメラの運動の精度検証 (メディア工学) -- (サマーセミナー2016 : 世界を視る・世界を創るビジョン技術)

    山野 史登, 増山 岳人, 梅田 和昇

    映像情報メディア学会技術報告 = ITE technical report   40 ( 28 )   37 - 40   2016.8

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  • カラー画像のオプティカルフローと距離画像を用いた微小運動の直接推定による三次元地図生成 (メディア工学) -- (サマーセミナー2015 : 実用分野を切り拓き、価値を生み出すビジョン技術)

    木村 優志, 野﨑 慎太, 増山 岳人, 梅田 和昇

    映像情報メディア学会技術報告 = ITE technical report   39 ( 30 )   17 - 20   2015.8

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    本研究では,距離画像と同時にカラー画像のオプティカルフローを用いてセンサの運動パラメータを直接推定する手法を提案している.提案手法により得られた運動パラメータを用いて連続した2枚の距離画像の位置合わせを行うことにより三次元地図生成を行っている.また,三次元地図生成実験により,距離画像の位置合わせを行い,運動パラメータ推定にかかる処理時間を検証している.

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  • 2A1-U04 Target Tracking with a Mobile Robot under Occlusion

    ISOBE Yuzuka, MASUYAMA Gakuto, UMEDA Kazunori

    2015   "2A1 - U04(1)"-"2A1-U04(4)"   2015.5

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    Target tracking is one of the important functions for autonomous mobile robots. In the environments where a target-tracking system is used, there may be many people and objects. When the system is applied in such environments, occlusion is a challenge for achieving target tracking. In this paper, an occlusion handling method for target tracking with a mobile robot is proposed. By using a stereo camera, both color and location information is used for target detection. During target tracking, the state of occlusion is determined. According to the state, an appropriate tracking process is applied. The effectiveness of the proposed method is verified through target-tracking experiments. In the experiments, the proposed system is compared with the target-tracking system without the occlusion handling method.

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  • 1A1-H07 Build of Subminiature Range Image Sensor Using Multi-Slit Laser Projector and Endoscopy Camera

    FENG Yi, NOZAKI Shinta, MASUYAMA Gakuto, UMEDA Kazunori

    2015   "1A1 - H07(1)"-"1A1-H07(3)"   2015.5

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    In this paper, the developing of an ultra-small size range image sensor is presented. The sensor is designed for robot hand by using an endoscopy camera and multi-slit laser projector, which can display 3D distance information. The improvements over the previous sensor are size, accessibility and measurement range in close distance. The dimension of our sensor is 16×40×53 mm and only weights about 28 g. By using a universal Webcam chip, the computer can capture the image data without installing the driver. Moreover, the sensor can measure the distance range from 50-150 mm. The effectiveness of the sensor is verified by experiment.

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  • 1A1-J09 Construction of a fish-eye stereo camera using conversion to equirectangular images

    OHASHI Akira, TANAKA Yuki, MASUYAMA Gakuto, UMEDA Kazunori, FUKUDA Daisuke, IRIE Kota, OGATA Takehito, NARITA Tatsuro, UCHIDA Yoshitaka

    2015   "1A1 - J09(1)"-"1A1-J09(4)"   2015.5

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    This paper proposes a stereo camera using two fish-eye cameras. The measurement range of the stereo camera is increased by using fish-eye cameras. Fish-eye images are deformed by using an equirectangular projection to simplify the stereo correspondence search in the images. Affine transformation is applied to images so that feature points of far objects coincide in images of two cameras, in order to remove the mismatches due to the errores of intrinsic and extrinsic parameters. The corresponding points are calculated by using the stereo matching in the deformed image, and the distance is measured from the disparity. The distance measurement accuracy of the constructed stereo camera is evaluated by experiments.

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  • 1A1-X03 Model-Based estimation of human hand postures using normal histograms

    MURAI Hayato, TADA Mitsunori, MASUYAMA Gakuto, UMEDA Kazunori

    2015   "1A1 - X03(1)"-"1A1-X03(4)"   2015.5

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    In this paper, we propose a method for estimating the pose of a human hand using normal histograms. The method is composed coast to fine of three steps. First, within the database which consist of hand model postures in a reduced degree of freedom space about human hand postures in a daily life, screening of postures is conducted using dispersion of point clouds. Second, the similarity between normal histograms generated from the input posture and the database posture is evaluated with Chi Square. Third, optimization for minimizing the evaluation function is conducted in the reduced parameter space. In the experiment, the hand model was used as input postures. The result of the experiment shows that the maximum estimation error was 21[%] using this method.

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  • ViEW2014 ビジョン技術の実利用ワークショップ開催報告

    映像情報インダストリアル   47 ( 3 )   61 - 63   2015.3

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  • 既存の平面テクスチャの勾配拘束によるレジストレーションを利用したカメラキャリブレーション (メディア工学 サマーセミナー2014 : 未来を拓くビジョン技術)

    田中 祐輝, 増山 岳人, 梅田 和昇

    映像情報メディア学会技術報告 = ITE technical report   38 ( 32 )   9 - 12   2014.8

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    カメラを用いた計測には,カメラのキャリブレーションが必要である.本研究では,特別なキャリブレーションターゲットを用いる必要のない,簡便なキャリブレーション手法を提案する.実環境に存在する平面テクスチャの3次元モデルとカメラから得られるカラー画像の位置合わせを行うことで,カメラの内部・外部パラメータを推定する.この際,2枚の画像の勾配拘束を利用する.実環境に存在する平面テクスチャを模したターゲットを用いて実験を行い,パラメータ推定を行うことができることを示す.

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  • 1P1-C07 Human Following with a Mobile Robot Based on Extraction of a Target Region Using a Stereo Camera(Vision System for Mobile Robot)

    ISOBE Yuzuka, MASUYAMA Gakuto, UMEDA Kazunori

    2014   "1P1 - C07(1)"-"1P1-C07(4)"   2014.5

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    This paper presents a target tracking system for a mobile robot in both indoor and outdoor environments. A stereo camera, which is robust to sunlight and illumination changes, is used. Human regions in images are detected from 3D information. Using color information, a target region is discriminated from the detected human regions. Hue and saturation are chosen as features robust to illumination changes. Finally, a mobile robot is controlled based on the 3D information of the detected target region. The effectiveness of the proposed system is verified through human following experiments in both indoor and outdoor environments.

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  • 3A1-V03 Hand pose estimation using orientation histograms(Digital Human)

    MURAI Hayato, TADA Mitsunori, MASUYAMA Gakuto, UMEDA Kazunori

    2014   "3A1 - V03(1)"-"3A1-V03(2)"   2014.5

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    In this paper, we propose a method for estimating the pose of a human hand by orientation histograms. This method can estimate the pose of a human hand without placing any makers and using motion capture which is much expensive. First, some postures of a human hand model are generated using Dhaiba Hand. After getting the point cloud data of a human hand by using RGB-D sensor, histograms of normals are generated from a hand model and a point cloud. Those orientation histograms are compared with each other with Residual Sum of Squares. The result of the experiment shows that the hand posture could be estimated comparing with 3 postures of hand model using this method.

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  • ViEW2013 ビジョン技術の実利用ワークショップ開催報告

    輿水 大和, 梅田 和昇

    映像情報インダストリアル   46 ( 3 )   63 - 65   2014.3

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  • 実世界の画像検査・事例

    梅田 和昇, 野口 稔, 肥塚 哲男

    非破壊検査   63 ( 1 )   11 - 17   2014.1

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  • 画像技術と応用舞台の展望 -IAIPの活動-

    輿水 大和, 梅田 和昇, 石井 明

    精密工学会誌   79 ( 10 )   891 - 894   2013.10

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)   Publisher:The Japan Society for Precision Engineering  

    DOI: 10.2493/jjspe.79.891

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    Other Link: https://jlc.jst.go.jp/DN/JALC/10024833669?from=CiNii

  • 操作者形状の限定によるコマンド空間を用いた家電操作手法の改良(若葉研究者の集い3,サマーセミナー2013〜画像処理の理論と実際〜)

    今村 勇也, 永易 武, 浅野 秀胤, 梅田 和昇

    映像情報メディア学会技術報告   37 ( 36 )   43 - 44   2013.8

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    近年,ジェスチャによって機器の操作を行うジェスチャインタフェースが注目されており,多くの研究成果が報告されている.本論文では,永易らによって提案された,操作者の位置,姿勢,向きに依らず手振りのみで家電機器の操作が可能なジェスチャインタフェースの改良を行っている.主成分分析に用いる領域を限定することにより,部屋に操作者以外の人物がいる場合でも家電機器の操作を可能とし,コマンド空間の認識率を向上させている.

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  • 1P1-J08 Tracking of People Using Particle Filter and Subtraction Stereo(3D Measurement/Sensor Fusion)

    KAWASHITA Takehiro, SHIBATA Masatoshi, UBUKATA Toru, ARIE Makoto, TERABAYASHI Kenji, UMEDA Kazunori

    2013   "1P1 - J08(1)"-"1P1-J08(4)"   2013.5

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    In this paper, a tracking system based on Particle Filter is presented. Color and distance information are used. Distance information are obtained by "Subtraction Stereo", which restricts stereo matching to foreground regions extracted by subtraction. The effectiveness of the proposed system is verified by experiments.

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  • 1P1-J04 Expansion of the measurement range of the range image sensor using multi-spot lights(3D Measurement/Sensor Fusion)

    NOZAKI Shinta, UCHIDA Yuki, UMEDA Kazunori

    2013   "1P1 - J04(1)"-"1P1-J04(4)"   2013.5

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    In this paper, we propose a method for expanding the measurement range of the range image sensor using multi-spot lights. This sensor can obtain range and color images at 200Hz. Measurement range of the original sensor is 850〜2500[mm]. It is necessary to solve the correspondence problem in order to expand the measurement range. The area of the spot image changes according to the distance. We use the area of the spot image to solve the correspondence problem. The effectiveness of the proposed method is verified by experiments.

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  • 1A2-L06 Analysis of Finger Posture during Lifting Task by Using Motion Capture System(Digital Human)

    TADA Mitsunori, SATO Kyohei, UMEDA Kazunori

    2013   "1A2 - L06(1)"-"1A2-L06(2)"   2013.5

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    In this paper we conducted analysis of lifting task focusing on the trajectory of center of pressure (CoP) and posture of fingertip while human subjects lift up, hold and replace an object with their index finger and thumb. CoP was computed from the forces and torques measured by a 6-axis force sensor installed in the lifted device, while posture of the index finger and thumb was measured by a motion capture system and three optical markers attached to the fingernail and thumbnail. The result of the lifting task experiments under dierent friction and weight conditions showed coordination between the grip force and load force. The trajectories of the CoP during the lifting task had similar trend regardless of the experimental conditions, and were divided into two distinct phases. From the data of finger posture, the first phase was speculated due to change in the finger posture coming in contact with the device, while the second phase was speculated due to skin deformation in the direction of the load force.

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  • 魚眼カメラを用いたEPI解析による3次元環境復元の精度検証

    岡本 寛也, 寺林 賢司, 梅田 和昇

    映像情報メディア学会技術報告   36 ( 34 )   49 - 52   2012.8

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    自動車の運転支援システムやロボットにおいて,一度に広範囲を3次元計測することが重要である.本論文では,3次元計測を行うセンサとして魚眼カメラを用いる.魚眼カメラで取得した画像は大きく歪んでいるが,一度に広範囲を観測でき,自動車等への搭載が容易である.我々は,魚眼カメラを用いたEPI解析による3次元環境復元手法を提案している.本手法を用いることで,特徴点の対応を容易かつ安定に行える.本論文では,精度検証実験により本手法の有効性を検証する.

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  • 2A2-L05 Human Detection Based on Fast Scan Method Using Template Matching with Intensity Gradients(Robot Vision(1))

    ARIE Makoto, UBUKATA Toru, SHIBATA Masatoshi, MORO Alessandro, TERABAYASHI Kenji, UMEDA Kazunori

    2012   "2A2 - L05(1)"-"2A2-L05(4)"   2012.5

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    In this paper, we proposed a fast and stable human detection based on "subtraction stereo" which can measure distance information of foreground regions. Scanning an input image by detection window is controlled in their window sizes and number using the distance information obtained from subtraction stereo. This control can skip a large number of detection windows and leads to reduce the computational time and false detection for fast and stable human detection. Additionally, we propose template matching using intensity gradients and aSC descriptor which is local features with upper human body models. Experimental results show that the proposal is faster and less false detection than method described in the reference.

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  • 2A2-L01 Construction of a gesture recognition system that considers an operator's posture using a range image sensor(Robot Vision(1))

    TAKEDA Yasuyuki, ASANO Hidetsugu, TERABAYASHI Kenji, UMEDA Kazunori

    2012   "2A2 - L01(1)"-"2A2-L01(3)"   2012.5

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    These days, home appliances in our living environment are becoming full of functions. On the other hand, the increase of their functions makes their operation complicated. Therefore, an intelligent room which recognizes gestures and support operators is required in various places. In this paper, we construct a gesture recognition system that considers an operator's posture using a range image sensor. The proposed system uses Support Vector Machine (SVM) to recognize gestures. Several experiments are performed to demonstrate the effectiveness of the proposed method.

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  • アクティブステレオ法による距離画像センサー

    梅田和昇, 寺林賢司

    光学   41 ( 5 )   275 - 280   2012.5

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  • 研究室紹介 画像応用技術専門委員会の活動内容紹介

    輿水 大和, 石井 明, 梅田 和昇

    画像ラボ   22 ( 9 )   89 - 91   2011.9

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  • 柔軟な誤対応除去と距離濃淡画像を用いた高精度な2D/3Dレジストレーション手法

    猪股亮, 寺林賢司, 梅田和昇, ギーゴダン

    画像の認識・理解シンポジウム(MIRU2011)論文集   2011   1508 - 1515   2011.7

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  • 2P1-Q12 Mouth Motion Recognition Using Template Matching(Intelligent and Robotic Room)

    TAKITA Kiyoshi, NAGAYASU Takeshi, ASANO Hidetsugu, TERABAYASHI Kenji, UMEDA Kazunori

    2011   "2P1 - Q12(1)"-"2P1-Q12(4)"   2011.5

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    These days, home appliances in our living environment are becoming full of functions. On the other hand, the increase of their functions makes their operation complicated. Therefore, an intelligent room which recognizes gestures and support operators is required in various places in recent years. In this paper, we propose a method to recognize mouth motion from images. The proposed method uses template matching and recognizes mouth motion for indicating a target object in an intelligent room. DP matching is applied to similarity measure obtained by template matching. Several experiments are performed to demonstrate the effectiveness of the proposed method.

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  • 2A1-K16 Personal Identification Based on Hand-waving(Robot Vision)

    TAKAHASHI Masahito, TERABAYASHI Kenji, UMEDA Kazunori

    2011   "2A1 - K16(1)"-"2A1-K16(4)"   2011.5

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    We propose a method for personal identification based on hand-waving. The main contribution of this paper is how the people that wave a hand repeatedly can be identified using frequency features. We first construct a time series of hand low-resolution images. Next, frequency features are extracted from time series of hand low-resolution images applying FFT. Finally, our method computes the similarity of model data and test data using cone-restricted subspace method. In several experiments, we try to identify the person who waves a hand and show the accuracy of the proposed method.

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  • 1P1-D08 Measurement of 3D environment with a fish-eye camera based on EPI analysis(3D Measurement/Sensor Fusion)

    MORITA Toru, TERABAYASHI Kenji, UMEDA Kazunori

    "1P1 - D08(1)"-"1P1-D08(4)"   2011

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    In car driving support systems and mobile robots, it is important to understand three-dimensional environment widely at once. In this paper, we use a fish-eye camera as a sensor which measures environment. This camera can take a wide-range and distortional image and can be easily mounted on cars. We propose a method for reconstructing three-dimensional environment from fish-eye images based on EPI analysis. Using this method, matching of feature points is easy and stable. The effectiveness of the proposed method is verified by experiments.

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  • 1A2-G02 Mouth Motion Recognition Using Shape Features and Low-resolution Images of Mouth Region

    TAKAHASHI Masahito, TAKAYAMA Yoshihiro, NAGAYASU Takeshi, TERABAYASHI Kennji, UMEDA Kazunori

    2010   "1A2 - G02(1)"-"1A2-G02(2)"   2010

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    An intelligent room which recognizes gestures and support operators is required in various places in recent years. In this paper, we propose a method to recognize mouth motion from images. The proposed method uses shape features and low resolution images of mouth region and recognizes mouth motion for indicating a target object in an intelligent room. DP matching is applied to low resolution images. Several experiments are performed to demonstrate the effectiveness of the proposed method.

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  • 1P1-E05 Segmentation of Multiple Human Using Subtraction Stereo

    UBUKATA Toru, MORO Alessandro, HOSHIKAWA Yuma, ARIE Makoto, TERABAYASHI Kenji, UMEDA Kazunori

    2010   "1P1 - E05(1)"-"1P1-E05(4)"   2010

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    In this paper, we propose a method for segmentation of multiple human in a projection plane. Our algorithm requires a stereo camera system called Subtraction Stereo, which extracts foreground information with a fixed stereo camera. The main contribution of this paper is how the image sequences that include partial occlusion of the foreground objects can be accurately segmented using mean shift clustering in real-time processing. The proposed method is suitable for inside a medium-sized environment, such as a room and an entrance. Finally, we try to segment the image sequences that include partial and full occlusion and show the accuracy of the proposed method.

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  • 2P1-D17 Human Detection Using Subtraction Stereo with HOG Features

    ARIE Makoto, MORO Alessandro, HOSHIKAWA Yuma, UBUKATA Toru, TERABAYASHI Kenji, UMEDA Kazunori

    2010   "2P1 - D17(1)"-"2P1-D17(4)"   2010

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    In this paper, we propose a fast and stable human detection method using a stereo camera system called "Subtraction Stereo" with a Histograms of Oriented Gradients (HOG) feature. The proposed method performs scanning detection window using the distance of foreground regions from the subtraction image. Fast and stable human detection is achieved by the HOG feature of foreground regions with on Real AdaBoost classifier. And the experimentally demonstrated that our solution compared normal image with subtraction images. In addition, when we computed the HOG feature, we verified the size of an important cell.

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  • Real-Time Adaptive Thresholding for Video Surveillance Using Human Tracking Information

    TERABAYASHI Kenji, UMEDA Kazunori, MORO Alessandro

    2009 ( 1 )   89 - 90   2009.12

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  • 色情報と差分ステレオを組み合わせた人物トラッキング

    星川佑磨, 中西達也, 橋本優希, 寺林賢司, 梅田和昇

    2009年度精密工学会秋季大会学術講演会講演論文集   2009.9

  • インテリジェントルームにおけるビジョン技術

    梅田和昇, 入江耕太, 寺林賢司

    日本ロボット学会誌   27 ( 6 )   600 - 603   2009.7

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  • 1A1-D19 Construction of real-time sensing system of textured range images with a high-speed range image sensor and a color camera

    ISHIYAMA Hidetoshi, TERABAYASHI Kenji, UMEDA Kazunori

    2009   "1A1 - D19(1)"-"1A1-D19(3)"   2009.5

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    This paper discusses a high-speed range image sensor which can obtain textured range images in real time. One of the important applications of this system is an outside sensing for mobile robots. The proposed system consists of a commercially available laser projector and two CCD cameras. The number of pixels of a range image is 361 and the measurement range is 800-2000mm. Experimental results show 40Hz sensing of textured range images. The effectiveness of the proposed system is verified by experiments. As a major conclusion, the constructed sensing system obtains real-time textured range images with commercially available devices.

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  • 2A2-J10 Contact mechanics of a finger pad with individual variation

    NOHARA Ken, TADA Mitsunori, UMEDA Kazunori, MOCHIMARU Masaaki

    2009   "2A2 - J10(1)"-"2A2-J10(2)"   2009.5

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    This paper reports the influence of finger geometry on mechanics of contact. We synthesized nine representative FE models from geometric database of human finger, and simulated mechanical behavior of finger pad under the same boundary condition for this purpose. The results of the simulation revealed that there is strong correlation between thickness of a finger pad and the maximum von mises stress that arise in the boundary between finger nail and skin.

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  • 1A1-C14 Object detection using characteristics of spectral reflectance in mid-infrared region

    SUZUKI Yuji, ASANO Hidetsugu, FURUYA Takanori, UMEDA Kazunori

    2009   "1A1 - C14(1)"-"1A1-C14(3)"   2009.5

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    This paper proposes an object detection method using characteristics of spectral reflectance in mid- infrared region. Retroreflective traffic signs are irradiated with infrared light and the reflected light from the traffic signs is taken with an infrared camera. Infrared lights with wavelength of around 1400nm and 1150nm are used, since solar lights do not contain these wavelengths and the detection of traffic signs can be realized without the effect of the sun. The effectiveness of the proposed method is verified by experiments.

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  • 1A1-D16 Measurement of Multiple Persons Using a Subtraction Stereo

    NAKANISHI Tatsuya, TERABAYASHI Kenji, HASHIMOTO Yuki, HOSHIKAWA Yuma, UMEDA Kazunori

    2009   "1A1 - D16(1)"-"1A1-D16(4)"   2009.5

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    We have proposed a stereo camera system "subtraction stereo" that focuses on moving regions. This paper proposes a method to track multiple persons using a sequence of range images obtained by subtraction stereo. Tracking that is robust to occlusion, etc. is realized using Kalman filter. The effectiveness of the proposed method is verified by experiments.

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  • 2A2-J11 Eigen Finger : Geometric Database from MRI Images

    TADA Mitsunori, NOHARA Ken, UMEDA Kauznori, MOCHIMARU Masaaki

    2009   "2A2 - J11(1)"-"2A2-J11(2)"   2009.5

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    In order to synthesize geometric models with individual variations, we created geometric database of human finger from MRI images. Volume registration technique was employed to quantify the individual differences from 3-dimensional MRI images of 50 male subjects. The result of principal component analysis for the measured individual differences (displacement fields) has clarified the principal features of finger geometry such as dimension, thickness and thickness of a finger pad. We can synthesize possible variations of finger geometry and subject specific finger geometry by transforming a template model according to a displacement field computed by weighted sum of these principal features.

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  • 1A1-C13 Periodic Gesture Recognition Based on Time Series of Intensity

    TAKAHASHI Masahito, IRIE Kota, OGISHIMA Hidetoshi, TERABAYASHI Kenji, UMEDA Kazunori

    2009   "1A1 - C13(1)"-"1A1-C13(4)"   2009.5

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    In this paper, we propose a method to recognize periodic gestures from images as a key technology for human machine interface. The proposed method uses power spectrum and phase spectrum that are obtained by applying FFT to time series of intensity images. FFT is applied to each pixel of the low-resolution images. The method consists of 2 steps. First, the method detects periodic motion regions from power spectrum. Second, the system uses the phase spectrum in the detected periodic motion region to classify the gestures. The proposed method is robust to lighting condition and individual difference of skin color, because it does not use color information. To demonstrate the effectiveness of the proposed method, we have conducted several experiments and show that support vector machines are well suited for obtaining discriminate hyperplanes for recognition of periodic motion.

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  • 2A1-D11 Skin Color Registration for Gesture Recognition in an Intelligent Room

    IRIE Kota, OGISHIMA Hidetoshi, TAKAHASHI Masahito, TERABAYASHI Kenji, UMEDA Kazunori

    2009   "2A1 - D11(1)"-"2A1-D11(4)"   2009.5

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    This paper proposes skin color registration in an intelligent room. We apply the gesture recognition to the operation of the household electrical appliances. In order to recognize the gestures, the skin color information is used in this system. Existing method we had constructed took time to register the skin color. That means, it was difficult to operate household electrical appliances smoothly. Therefore we developed the new method that improved the skin color registration, it recognize the gestures more smoothly by any skin colors. The new method uses a result of waving hands recognition that identifies an operator. It was confirmed that the method could resister the skin color smoothly and it was valid for an intelligent room system.

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  • Measurement of Pedestrian in Unknown 3D Environment Using Subtraction Stereo

    TERABAYASHI KENJI, HASHIMOTO YUKI, HOSHIKAWA YUMA, UMEDA KAZUNORI

    2009 ( 5 )   1 - 4   2009.5

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  • 差分ステレオによる多人数歩行者の運動計測

    寺林賢司, 中西達也, 橋本優希, 星川佑磨, 川田昂次, 梅田和昇

    2009年度精密工学会春季大会学術講演会講演論文集   185 - 186   2009.3

  • 画像入力・計測技術の新展開-三次元画像計測技術を中心として-

    藤吉弘亘, 梅田和昇, 山本和彦

    精密工学会誌   75 ( 2 )   228 - 232   2009.2

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  • Subtraction stereo - A stereo camera system that focuses on moving regions

    Kazunori Umeda, Yuuki Hashimoto, Tatsuya Nakanishi, Kota Irie, Kenji Terabayashi

    Proceedings of SPIE - The International Society for Optical Engineering   7239   p.723908   2009

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    This study aims at developing a practical stereo camera that is suitable for applications such as surveillance, in which detection of anomalies or measurement of moving people are required. In such surveillance cases, targets to measure usually move. In this paper, "Subtraction stereo" is proposed that focuses on motion information to increase the robustness of the stereo matching. It realizes robust measurement of range images by detecting moving regions with each camera and then applying stereo matching for the detected moving regions. Measurement of three-dimensional position, height and width of a target object using the subtraction stereo is discussed. The basic algorithm is implemented on a commercially available stereo camera, and the effectiveness of the subtraction stereo is verified by several experiments using the stereo camera. © 2009 SPIE-IS&amp
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  • A simple indoor self-localization system using infrared LEDs

    Shunsuke Hijikata, Kenji Terabayashi, Kazunori Umeda

    INSS2009 - 6th International Conference on Networked Sensing Systems   45 - 51   2009

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    In this paper, a simple and robust method for indoor self-localization is proposed. Infrared LEDs are used as landmarks. They are set at known positions and observed by a CCD camera on a mobile robot. As a consequence, self-localization is carried out. The acquisition of the position and orientation of the robot with two or more LEDs is formulated. The nonlinear least squares method is applied. Experiments with a constructed experimental system evaluate the proposed method. Error analysis is performed by simulations. The proposed method realizes a very simple indoor GPS using only several infrared LEDs and a CCD camera. ©2009 IEEE.

    DOI: 10.1109/INSS.2009.5409955

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  • Current Issues and Trends on Multi-Dimensional Sensing Technologies in Security and ITS

    YAMAGUCHI Jun'ichi, UMEDA Kazunori, SATOU Yutaka, JITSUMORI Akio, SHIMOMURA Noriko, TERADA Kenji, HONTANI Hidekata, WATANABE Eriko, OKUDA Haruhisa, HAGA Tetsuji, HASHIMOTO Manabu

    2008 ( 13 )   13 - 17   2008.11

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  • 距離濃淡画像を利用した実物体の三次元モデル生成

    草彅真人, 篠崎めぐみ, 寺林賢司, 梅田和昇, ギーゴダン, マークリュウ

    2008年度精密工学会秋季大会学術講演会講演論文集   p.C67   2008.9

  • 赤外域における分光反射特性を用いた物体検出の基礎検討

    鈴木 裕史, 古谷 貴紀, 梅田 和昇

    映像情報メディア学会技術報告   32 ( 35 )   5 - 6   2008.8

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    本研究では,赤外領域における分光反射特性を利用して物体を検出する手法の提案を行っている.提案手法では,道路標識の反射率が赤外領域で他の物体に比べ比較的高いことを利用している.アクティブに赤外光を照射し,赤外カメラを用いて,太陽光の影響の小さい1150nm,1400nmの波長における画像を撮影し,2波長間の反射強度を用いて標識を検出する手法を提案している.

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  • アーバンセンシング基盤に向けて

    戸辺義人, 山田剛一, 白石 陽, 高汐 一紀, 梅田 和昇, 田村 陽介

    人工知能学会誌   23 ( 4 )   474 - 479   2008.7

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    Other Link: http://id.nii.ac.jp/1004/00007015/

  • 2A1-F18 Improvement of a method to recognize waving hands using FFT

    IRIE Kota, OKUNO Tatsuya, UMEDA Kazunori

    2008   "2A1 - F18(1)"-"2A1-F18(2)"   2008.6

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    This paper proposes improvement of a method to recognize waving hands using FFT. We constructed an intelligent room that has gesture recognition as a human-machine interface. Recognition of waving hands from images is a key technology of the system to detect an operator in the room. The current method cannot recognize slow waving hands. Therefore we increase the number of sampling frames and add the features to solve this problem. The proposed method is verified by simulations and experiments, and it was confirmed that the method can recognize even slow waving hands.

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  • 1A1-E05 Time Optimal Control for Quadruped Walking Robots considering leg torque distribution

    HASEGAWA Yuji, OSUMI Hisashi, ISHIBASHI Takenori, UMEDA Kazunori, UEDA Ryuichi, ARAI Tamio

    2008   "1A1 - E05(1)"-"1A1-E05(4)"   2008.6

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    Time optimal control method for quadruped walking robots is developed and installed into a practical robot system. Swinging leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, supporting legs support their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP(zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified.

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  • 1A1-G23 A Method to Construct Overhead View Images Using Multiple Fish-Eye Cameras

    KASE Shota, MITSUMOTO Hisanori, ARAGAKI Yohei, SHIMOMURA Noriko, UMEDA Kazunori

    2008   "1A1 - G23(1)"-"1A1-G23(4)"   2008.6

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    In recent years, active safety technologies of cars are becoming important and the cases that cameras are mounted in cars are increasing. Since the perception of the distance of a usual image is difficult for drivers, method to construct overhead view images and assist drivers are proposed. In this paper, we propose methods for estimating camera parameters of multiple cameras and construct overhead view images with small errors. Effectiveness of the methods is examined by experiments.

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  • 2P1-G10 Development of a Stereo Camera System That Focuses on Moving Regionst : Verification of Basic Algorithm and Application to Detection of Moving Objects

    WADA Masaki, UMEDA Kazunori, NAKANISHI Tatsuya, HASHIMOTO Yuki

    2008   "2P1 - G10(1)"-"2P1-G10(4)"   2008.6

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    In many computer vision applications such as surveillance, targets to detect and measure move. We have proposed a stereo camera system that focuses on moving regions. In the system, what is called the "correspondence problem" of the stereo cameras is solved by restricting the stereo matching process to moving regions. In this paper, the fundamental algorithm to realize robust measurement of stereo images by detecting moving regions with each camera and then applying stereo matching for the detected moving regions is verified, and detection of features of moving regions using the proposed stereo system is discussed and evaluated by experiments.

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  • 2A1-E07 Indoor self-localization system using infrared LEDs : Speed-up of the system by improvement of LEDs' ID system

    ONISHI Tomoya, UMEDA Kazunori

    2008   "2A1 - E07(1)"-"2A1-E07(3)"   2008.6

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    This paper proposes a method for speed-up of indoor self-localization system. Infrared LEDs are used as landmarks. They are invisible and thus do not irritate a human. They are set at known positions, and a CCD camera on a mobile robot observes them and self-localization is carried out. A method to obtain position in two-dimensional plane and orientation with three or more LEDs is formulated. The nonlinear least squares method is applied. Experiments verify stable self-localization when the robot moves at a speed of 50 centimeters per second.

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  • A Compact Range Image Sensor Using Multi-Spot Lights : Application to Detection of Planar Regions for a Humanoid and Construction of a 200Hz Fast Sensor

    UMEDA Kazunori, HIKOSAKA Naotaka, TATEISHI Masateru

    2007 ( 1 )   5 - 10   2007.8

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  • オプティカルフローを用いた単眼移動カメラからの移動物体検出手法の基礎検討 (メディア工学)

    光本 尚訓, 梅田 和昇

    映像情報メディア学会技術報告   31 ( 39 )   5 - 8   2007.8

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  • 画像応用と知能化システムの諸課題

    梅田和昇

    JSPE2007年3月, 春季大会OS (E) (芝浦工業大学)   2007

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  • Self-Localization Using White Line Information for RoboCup Four Legged Robot League

    30 ( 42 )   113 - 114   2006.8

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  • A Simple Indoor GPS : Self-Localization Using Infrared LEDs

    UMEDA Kazunori, HIJIKATA Shunsuke

    2006 ( 20 )   11 - 16   2006.8

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  • 距離濃淡画像を用いたカラー画像の輝度補正--距離画像とカラー画像を用いた実物体のカラー3Dモデリングのための一手法

    篠崎 めぐみ, 梅田 和昇

    画像ラボ   17 ( 6 )   11 - 15   2006.6

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  • 爪の歪み情報を用いた指先接触力推定

    白井雅憲, 多田充徳, 高野太刀雄, 梅田和昇

    デジタルヒューマン基盤技術平成17年度成果報告書   2006.3

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  • Network Sensing Towards Real-World Search

    Tobe Yoshito, Suzuki Tsuyoshi, Yamada Koichi, Shiraishi Yoh, Takashio Kazunori, Umeda Kazunori, Tamura Yosuke

    Proceedings of the Japan Joint Automatic Control Conference   49 ( 0 )   239 - 239   2006

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    DOI: 10.11511/jacc.49.0.239.0

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  • 1A1-D24 Obstacle recognition in a humanoid walking by using a small range image sensor

    Watanabe Kei, HIKOSAKA Naotaka, UMEDA Kazunori

    2006   "1A1 - D24(1)"-"1A1-D24(4)"   2006

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    This paper deals with a target that a humanoid with a small range image sensor recognizes obstacles and avoid them autonomously while walking. Planar regions, on which the humanoid can walk, and obstacles are distinguished by using a relative disparity image obtained by a small range image sensor. In addition, an integrated system that can feed back obtained obstacle information to the humanoid is constructed. Experiments show that the humanoid can recognize obstacles and stop walking autonomously by the proposed system.

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  • 最新のマシンビジョン技術-2 人とつながるマシンビジョン技術

    梅田和昇, 青木義満

    電気学会誌   125 ( 11 )   692 - 695   2005.11

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    This article has no abstract.

    DOI: 10.1541/ieejjournal.125.692

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  • 既知の色の対象を用いた色認識のロバスト化 (サマーセミナー(若葉研究者の発表会))

    奥隅 隆, 菊地 敏文, 梅田 和昇

    映像情報メディア学会技術報告   29 ( 46 )   47 - 50   2005.8

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  • 2P1-S-026 Illumination-Invariant Object Recognition using Fuzzy Color Classification(RoboCup 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Jitsukawa Yoshiaki, Kikuchi Toshifumi, Ueda Ryuichi, Arai Tamio, Umeda Kazunori

    2005   212 - 212   2005.6

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  • 2P1-S-027 Efficiency Enhancement of Vector Quantization Method for State-Action Map Compression(RoboCup 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Ueda Ryuichi, Arai Tamio, Sakamoto Kohei, Jitsukawa Yoshiaki, Takeshita Kazutaka, Umeda Kazunori, Osumi Hisashi, Kikuchi Toshifumi, Komura Masaki

    2005   212 - 212   2005.6

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  • 2A1-N-051 Construction of an Intelligent Room Using Intuitive Gesture Recognition(Intelligent Space 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Wakamura Naohiro, Umeda Kazunori, Suzuki Kenichirou

    2005   144 - 144   2005.6

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  • 2A1-S-023 Self-Localization Using White Line Information for RoboCup Four Legged Robot League(RoboCup 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Shirai Shinsuke, Ueda Ryuichi, Umeda Kazunori, Osumi Hisashi, Arai Tamio

    2005   167 - 167   2005.6

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  • 1A1-S-040 Self-localization of a mobile robot using infrared LEDs(Vision-Based Mobile Robot 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Hijikata Shunsuke, Umeda Kazunori

    40 - 40   2005

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  • 3次元空間における指差し方向認識手法の構築 : インテリジェントルームへの適用

    鈴木 健一郎, 若村 直弘, 梅田 和昇

    映像情報メディア学会技術報告   28 ( 46 )   31 - 32   2004.8

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  • 小型距離画像センサにより得られる相対視差画像を用いた平面領域検出

    渡辺 圭, 梅田 和昇

    映像情報メディア学会技術報告   28 ( 46 )   33 - 34   2004.8

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  • Construction of an Automatic Education System with Image Processing

    Hikota M, Umeda K, Matsuda T

    2004   116 - 116   2004.6

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  • Measurement of the Zero Moment Point for walking robot using stereo cameras

    Komura M, Osumi H, Kamiya S, Arai T, Umeda K

    2004   63 - 63   2004.6

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  • Detection of Planar Regions using a Relative Disparity Image Obtained by a Small range Image Sensor : Application to a Humanoid

    Yamazaki T, Umeda K

    2004   135 - 135   2004.6

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  • 勾配拘束と距離濃淡画像を用いた距離画像とカラー画像のレジストレーション

    梅田和昇

    画像の認識 理解シンポジウム2004論文集   27 - 32   2004

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    UMEDA Kazunori

    Proc. 2004 IEEE Int. Conf. on Robotics and Automation   2004

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  • 手振り認識などのジェスチャ認識によるインテリジェントルームの構築

    梅田和昇

    2003年度精密工学会春季大会シンポジウム資料「人と顔の計測と感性情報処理」   2003   75 - 80   2003.3

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  • 研究室訪問 ロボットの“目”を追求 中央大学理工学部精密機械工学科梅田研究室

    Science & Technology Journal   12 ( 2 )   44 - 45   2003.2

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  • Construction of the Man-Machine Interface Using Gesture Recognition : Application in an Intelligent Room

    Irie K., Umeda K., Wakamura N.

    28 - 28   2003

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  • Construction of a Home Robot Operation System using a Laser Pointer with Speech Recognition

    Takahashi N., Umeda K., Shibuya N.

    2003   27 - 27   2003

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  • 濃淡値の時系列変化を利用した画像からの手振りの検出

    入江耕太, 梅田和昇

    映像情報インダストリアル   34 ( 13 )   25 - 31   2002.12

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  • 複数点から観測された距離画像・濃淡画像・触覚像の融合

    梅田和昇

    精密工学会画像応用技術専門委員会研究会報告   17 ( 1 )   23 - 29   2002.7

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  • マルチスポットレーザによる距離画像センサとその応用

    梅田和昇

    レーザ協会誌   27 ( 2 )   34 - 40   2002.4

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  • Error Evaluation in Three Dimensional Coordinate Measuring Machine (3DCMM) by Sequential-Two-Points Method

    YU Chang Xin, KOBAYASHI Yasuko, He Wei Ming, UMEDA Kazunori, SATO Hisayoshi, SAGARA Makoto, MATSUZAKI Hirohiko

    2002 ( 8 )   355 - 356   2002.3

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    A calibration method for three dimensional coordinate measurement machine(3DCMM) in terms of sequential-two-points method is proposed. Two sensors are attached to the probe of a machine and an Al plate machined by milling machine is placed on the table as the objective, then the probe is moved step wisely with interval of the distance between two sensors by NC indication of the machine along x axis, which makes it possible to identify the straightness error movement of the probe. By repeating the evaluation of the movement stepwisely again along y axis flatness error movement of the probe can be obtained, which is possible to calibrate the positioning accuracy of the probe in the plane. Statistical evaluation of the measuement is conducted, which leads to that reliability of the measurement is raised.

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  • 画像を用いた試薬の色のロバスト判定

    工藤 雅弘, 梅田 和昇, 板生 清

    精密工学会大会学術講演会講演論文集   2002 ( 1 )   695 - 695   2002.3

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  • 画像の幾何学的拘束を用いた複数移動ロボットの相対位置・姿勢計測

    漆原 英裕, 梅田 和昇

    精密工学会大会学術講演会講演論文集   2002 ( 1 )   213 - 213   2002.3

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  • 小型距離画像センサを用いた移動ロボットの未知環境認識と3次元マップの作成

    佐生 徳実, 梅田 和昇, 松田 恭子

    精密工学会大会学術講演会講演論文集   2002 ( 1 )   734 - 734   2002.3

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  • ウェアラブル機器のセンサ技術(2) 光学センサ

    梅田和昇, 加藤純一

    マイクロメカトロニクス   46 ( 1 )   51 - 66   2002.3

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    DOI: 10.20805/micromechatronics.46.1_51

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  • Detection of Waving Hands from Images : Application of FFT to time series of low-resolution images

    IRIE Kota, UMEDA Kazunori

    98 - 98   2002

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  • Estimation of fingers' pose using a flat-type tactile sensor

    Shimizu M., Umeda K., Kinoshita G.

    2002   97 - 97   2002

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  • Construction of a home robot operation system using a laser pointer

    TAKAHASHI Nobuhisa, Nakazawa YOUSUKE, UMEDA Kazunori

    2002   99 - 99   2002

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  • Application of image processing for skill transfer from a skilled worker to a beginner : Development of an automatic education system for engine assembly

    HIKOTA Mari, UMEDA Kazunori, MATSUDA Tadataka

    2002   21 - 21   2002

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  • 2A1-B2 Measuring relative position and orientation of multiple mobile robots using geometrical constraints of landmarks

    Ono Y., Umeda K., Urushibara H.

    2001   41 - 41   2001.6

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  • 1P1-N5 Proposal of a calibration method of a range image sensor with spot lights

    Makino Hironori, Umeda Kazunori, Sasho Tokumitu

    2001   32 - 32   2001.6

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  • 2P2-C9 Application of motion detection by compound-eye-type micro vision sensor

    Sekine M., Umeda K.

    2001   70 - 70   2001.6

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  • 2A1-C8 Detection of Waving Hand by Image Processing for an Intelligent Room

    Irie K., Nakanishi Y., Umeda K.

    2001   42 - 42   2001.6

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  • 810 Operation of mobile robot by using a laser pointer

    TAKAHASHI Nobuhisa, UMEDA Kazunori

    2001 ( 7 )   297 - 298   2001.3

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    Home robots which physically help a man are though to be necessary in addition to pet robots. This paper proposes a concept of operating a mobile robot by using a laser pointer as one of the technologies of user interface for home robots. The method is robust and easily realized, and thus applicable for practical use. A prototype system for the concept is constructed, and a simple operation of a mobile robot is performed.

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  • ロボットにおけるセンサ技術

    梅田和昇

    振動技術   3   18 - 24   2001.3

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  • 1P1-N4 Proposal of a method of obstacle avoidance of a mobile robot with a small range image sensor

    Aramaki I., Sasho T., Umeda K.

    32 - 32   2001

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  • 811 User Interface for Remote Control of a Mobile Robot via Internet

    ASANUMA Kazunori, SHIRAHATA Tetsu, UMEDA Kazunori

    299 - 300   2001

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    In this paper, a remote operation system of a mobile robot on WWW browsers is constructed based on TCP/IP network techniques. Data of a CCD camera and sonar sensors on a mobile robot is transmitted to a client PC by CGI, Socket of Java API, etc. Real time performance is improved by such efficient transmissions. An user interface is developed to appeal visually to an operator using the drawing ability of Java applets. Additionally, a framework is proposed to display multiple robots on remote site to local WWW browsers.

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  • 2A1-K9 Improvement of the Method of Operating a Mobile Robot by Gesture Recognition

    Yamada T., Umeda K.

    49 - 49   2001

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  • Evaluation of Error Space in Three Dimensional Coordinate Measurement Machine (3DCMM) by Sequential Two Points Method

    SONE Tetsuo, He Wei Ming, SATO Hisayoshi, UMEDA Kazunori, TANI Yasuhiro, SAGARA Makoto, MATSUZAKI Hirohiko

    2000   243 - 243   2000.9

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    Sequential two points method which was developed to identify the straightness motion of machine tool and that of machined part is applied to evaluate the stratightness error motion of the probe in 3DCMM. Repeting the measurement on the objective plane, a method to form error plane is proposed by combining the measured straight error motions. If the procedures are made for the respective coordinates, space error can be evaluated. This could be more easily done by any other conventional methods. Compensation method is proposed, which is possible to improve measurement accuracy without changing hardware configuration of the 3DCMM.

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  • 「21世紀の玩具とロボティクス」特集について

    梅田 和昇

    日本ロボット学会誌   18 ( 2 )   1 - 1   2000.3

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  • 視触覚による形状計測とその応用

    村上 清, 梅田 和昇, 木下 源一郎, 大隅 久

    精密工学会大会学術講演会講演論文集   2000 ( 1 )   494 - 494   2000.3

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  • 画像処理による自動車の自動教官システム

    伊藤 益夫, 梅田 和昇

    精密工学会大会学術講演会講演論文集   2000 ( 1 )   492 - 492   2000.3

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  • ローカル操作及びリモート操作の出来る半自律移動ロボットのシステム構築

    白幡 哲, 梅田 和昇

    精密工学会大会学術講演会講演論文集   2000 ( 1 )   490 - 490   2000.3

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  • インテリジェントルーム支援のためのジェスチャ認識

    山岸 崇志, 中西 裕一, 梅田 和昇

    精密工学会大会学術講演会講演論文集   2000 ( 1 )   489 - 489   2000.3

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  • 複眼型マイクロ視覚センサを用いた動物体の検出

    関根倫明, 梅田 和昇

    日本機械学会ロボテクスメカトロニクス講演会講演論文集, 2000   104 - 104   2000

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    これまでにマイクロな視覚センサの構築を目的として昆虫の複眼構造を模擬した複眼型マイクロ視覚センサの構造の提案を行い, 試作したセンサを用いて実験し, その有効性について検証してきた。本研究では試作したセンサを動物体の検出に用い, その有効性について検証を行う。

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  • 1P1-69-111 把持力を利用した平行 2 本指ハンドによる力計測

    高橋 健太郎, 原田 武史, 大隅 久, 梅田 和昇, 木下 源一郎

    ロボティクス・メカトロニクス講演会講演概要集   2000   58 - 58   2000

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    本研究では, 表面に触覚センサを付加した平行2本指ハンドを開発し, 物体把持状態の力や位置の計測, 組立におけるアルゴリズムを提案している。物体把持時の計測はハンドの把持力にも大きく依存しているため, 物体に働く外力を考慮し, それに適した把持力を導出する。本報では力の計測範囲が広くなるような把持力を利用し, 触覚センサに加えられる外力の計測実験の結果を示す。

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  • 2A1-71-096 距離情報と画像情報の融合による移動物体の運動追跡

    原 孝一, 梅田 和昇

    ロボティクス・メカトロニクス講演会講演概要集   2000   72 - 73   2000

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    複数超音波センサとCCDカメラを組み合わせた, 自律移動ロボット用視覚センシングシステムを構築し, 移動物体の2次元運動計測にカルマンフィルタを利用することで, 距離情報と画像情報を融合し, 運動追跡を行う。そして, シミュレーションを行い, 運動計測手法の有効性を検証する。

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  • 2P1-76-118 インテリジェントルームを目指したジェスチャ認識手法の構築

    中西 裕一, 山岸 崇志, 梅田 和昇

    ロボティクス・メカトロニクス講演会講演概要集   2000   91 - 91   2000

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    オフィスや家庭の部屋をインテリジェント化するためには, 人間の意図を直感的に伝達するマン・マシン・インタフェースが重要である。本研究では, カラー画像から肌色領域を抽出し, ジェスチャ認識を行うことによって, インテリジェントルームの構築を目指す。具体的なジェスチャとして, 指さし, 指の本数認識などを用いる。音声なども用いたインタフェースを構築し, 実験によりその有効性を検証する。

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  • 画像処理技術のマン・マシン・インタフェースへの応用 知能移動ロボット操作のためのジェスチャ認識などの実例

    梅田和昇

    画像ラボ   10 ( 10 )   26 - 31   1999.10

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  • 移動ロボットの動作によるマン・マシン・インタフェースの検討

    白幡 哲, 梅田 和昇, 田中 信也

    精密工学会大会学術講演会講演論文集   1999 ( 1 )   494 - 494   1999.3

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  • ジェスチャ認識による移動ロボット操作システムの構築

    田中 信也, 梅田 和昇

    精密工学会大会学術講演会講演論文集   1999 ( 1 )   22 - 22   1999.3

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  • 複数超音波センサデータと画像との融合による複数移動物体の運動認識

    梅田 和昇, 木村 久幸, 太田 順, 新垣 洋平

    精密工学会大会学術講演会講演論文集   1998 ( 2 )   485 - 485   1998.9

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  • 画像と複数超音波センサとの融合による移動物体の運動追跡

    梅田和昇, 太田順, 木村久幸

    画像ラボ   9 ( 9 )   34 - 39   1998.9

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  • 画像と複数超音波センサとの融合による移動物体の運動追跡

    梅田 和昇, 太田 順, 木村 久幸

    画像ラボ   9 ( 9 )   22 - 26   1998.9

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  • 視触覚融合による多面体・円筒の3次元計測

    古川 淳一, 梅田 和昇, 大隅 久, 木下 源一郎, 坂根 茂幸

    精密工学会大会学術講演会講演論文集   1998 ( 1 )   492 - 492   1998.3

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第3報) -触覚センサによる接触位置計測実験-

    石井 伸彦, 村上 哲也, 大隅 久, 梅田 和昇, 木下 源一郎

    精密工学会大会学術講演会講演論文集   1998 ( 1 )   122 - 122   1998.3

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  • 移動ロボットによる押し運び作業 第1報 オプティカルフローによる作業対象物の監視

    岸本 幸一郎, 梅田 和昇

    精密工学会大会学術講演会講演論文集   1998 ( 1 )   130 - 130   1998.3

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  • 微小情報機器調査委員会第3分科会報告「センサ」

    梅田和昇

    マイクロメカトロニクス   42 ( 1 )   87 - 92   1998.3

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    DOI: 10.20805/micromechatronics.42.1_87

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  • アスペクト情報に基づく感覚・操作行動の発現機構に関する研究-視触覚情報の融合と触像アスペクト法-

    木下源一郎, 大隅 久, 梅田和昇

    平成9年度文部省科学研究費重点領域研究研究成果報告書   168 - 171   1998.2

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  • Recognition of Hand Gestures Using Range Images

    UMEDA Kazunori

    Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 10   1998

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  • 複数超音波センサによる物体の運動計測-カルマンフィルタを用いた手法の構築-

    梅田和昇, 太田順, 木村久幸

    超音波TECHNO   9 ( 12 )   34 - 39   1997.12

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  • 距離画像によるジェスチャ認識 第4報頭部ジェスチャの認識システム

    中澤 秀作, 鈴木 範史, 梅田 和昇

    精密工学会大会学術講演会講演論文集   1997 ( 2 )   446 - 446   1997.10

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  • 距離画像と濃淡画像の分散センシングによる移動ロボットの自己位置同定

    生嶋 健司, 新垣 洋平, 梅田 和昇

    精密工学会大会学術講演会講演論文集   1997 ( 2 )   444 - 444   1997.10

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  • Development of a Parallel Two-Fingered Hand with High Compliant Tactile Sensors and its Application

    YAMAGUCHI D., KINOSHITA G., MIYASHITA T., OOSUMI H., UMEDA K.

    1997 ( 8 )   25 - 31   1997.3

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第2報) -把持物体と環境との接触点検出のための基礎実験-

    大隅 久, 宮下 知子, 石井 伸彦, 東郷 賢穂, 梅田 和昇, 木下 源一郎

    精密工学会大会学術講演会講演論文集   1997 ( 1 )   991 - 992   1997.3

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  • 局所的な特徴に着目した視覚情報と触覚情報の融合

    梅田 和昇, 古川 淳一, 大隅 久, 木下 源一郎

    精密工学会大会学術講演会講演論文集   1997 ( 1 )   1007 - 1008   1997.3

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  • 濃淡画像における目尻・目頭・瞳の中心の位置関係による視線検出

    内田 貴之, 梅田 和昇

    精密工学会大会学術講演会講演論文集   1997 ( 1 )   1223 - 1224   1997.3

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  • 距離画像と濃淡画像との融合手法のロボット群による分散センシングへの応用

    生嶋 健司, 梅田 和昇

    精密工学会大会学術講演会講演論文集   1997 ( 1 )   573 - 574   1997.3

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  • 複数超音波センサと画像との融合による移動物体の運動計測

    梅田 和昇, 木村 久幸, 太田 順, 廣瀬 毅, 渡辺 和久

    精密工学会大会学術講演会講演論文集   1997 ( 1 )   1005 - 1006   1997.3

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  • 距離画像によるジェスチャの認識 第3報 掌の様々なジェスチャの認識

    古沢 勲, 梅田 和昇, 鈴木 範史

    精密工学会大会学術講演会講演論文集   1997 ( 1 )   1303 - 1304   1997.3

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  • アスペクト情報に基づく感覚・操作行動の発現機構に関する研究-組み付け作業における視触覚情報の融合-

    木下源一郎, 大隅 久, 梅田和昇

    平成8年度文部省科学研究費重点領域研究研究成果報告書   169 - 172   1997.2

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  • 複数超音波センサと画像情報との融合-カルマンフィルタを用いた移動物体の運動計測-

    梅田和昇

    電気学会研究会資料   33 - 38   1997

  • 複数の視点から入力された距離画像・濃淡画像の融合

    生嶋 健司, 梅田 和昇, 新井 民夫

    精密工学会大会学術講演会講演論文集   1996 ( 2 )   161 - 162   1996.9

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  • Ultrasonic Sensor System for Obstacle Avoidance

    New Technology Japan   24 ( 2 )   22   1996.5

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  • Sensing of Contact Point a Grasped Object and Environment by Tactual Behavior of a Parallel Two-Finger Hand

    OSUMI Hisashi, UMEDA Kazunori, KINOSHITA Genichiro

    1996 ( 11 )   89 - 95   1996.3

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  • 2次元触覚センサを利用した平行2本指ハンドによる自動組立(第1報) -把持物体と環境との接触点検出アルゴリズムの提案-

    大隅 久, 宮下 知子, 梅田 和昇, 木下 源一郎

    精密工学会大会学術講演会講演論文集   1996 ( 1 )   77 - 78   1996.3

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  • 濃淡画像より抽出された黒目への円あてはめによる視線検出

    内田 貴之, 梅田 和昇

    精密工学会大会学術講演会講演論文集   1996 ( 1 )   307 - 308   1996.3

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  • 複数の超音波センサとカメラを持つ移動ロボット用センシングシステムによる移動物体の運動計測

    広瀬 毅, 梅田 和昇, 木村 久幸, 太田 順

    精密工学会大会学術講演会講演論文集   1996 ( 1 )   497 - 498   1996.3

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  • 昆虫の視覚系を模擬した複眼センサによる運動認識

    猿山 将臣, 梅田 和昇

    精密工学会大会学術講演会講演論文集   1996 ( 1 )   1003 - 1004   1996.3

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  • 距離画像によるジェスチャの認識 第2報 掌の速度ベクトルを用いた手招き・追い払い動作の識別

    古沢 勲, 鈴木 範史, 梅田 和昇

    精密工学会大会学術講演会講演論文集   1996 ( 1 )   309 - 310   1996.3

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  • アスペクト情報に基づく感覚・操作行動の発現機構に関する研究-視触覚情報の融合と触像アスペクト法-「ロボットハンドによる組立動作の自動姿勢(第1報)-触覚情報に基づく把持物体と環境の接触点検出アルゴリズムの提案-」

    木下源一郎, 大隅 久, 梅田和昇

    平成7年度文部省科学研究費重点領域研究研究成果報告書   102 - 105   1996.2

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  • カルマンフィルタを用いた複数超音波センサによる移動物体の運動計測

    梅田和昇

    1996年度精密工学会秋季大会   7 - 8   1996

  • 距離画像と濃淡画像を併用した産業用ビジョンシステムの構築

    梅田和昇, 新井民夫

    光アライアンス   6 ( 12 )   26 - 28   1995.12

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  • 距離画像と濃淡画像を併用した産業用ビジョンシステムの構築

    梅田和昇, 新井民夫

    6 ( 12 )   26 - 28   1995.12

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  • 距離画像を用いた形状・運動の認識

    梅田和昇

    精密工学会画像応用技術専門委員会研究会報告   9 ( 4 )   1 - 11   1995.3

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  • 複数の超音波センサと画像情報との融合による移動ロボット用センシングシステムの構築 第1報

    梅田和昇

    第13回日本ロボット学会学術講演会, 1995   1995

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  • マルチスポット光を用いた距離画像センサの設計指針と形状認識

    梅田和昇

    日本機械学会ロボティクス メカトロニクス講演会1995年講演論文集   1188 - 1191   1995

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  • 複数の超音波センサを使用した移動ロボット用センサシステムの構築, 第1報, カルマンフィルタを用いた移動物体の運動計測

    梅田和昇

    第13回日本ロボット学会学術講演会   ( 1 )   305 - 306   1995

  • 距離画像と濃淡画像の3次元空間中での融合手法の定式化

    梅田和昇

    精密工学会春季大会学術講演会講演論文集   653 - 654   1995

  • 距離画像によりジェスチャの認識 第1報首振り 手招きなどの往復運動の認識

    梅田和昇

    精密工学会秋季大会学術講演会講演論文集   739 - 740   1995

  • 粗い距離画像と濃淡画像を併用した複数円筒の認識とビンピッキングへの適用

    河合功治

    パイオニア技法   ( 7 )   44 - 52   1993.6

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  • 運動の特徴量の抽出による時系列距離画像からの運動の学習 認識

    梅田和昇

    第11回日本ロボット学会学術講演会予稿集   1   347 - 347   1993

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Presentations

  • ヘルメットに搭載した全天球カメラを用いたスキーにおける危険検知

    藤田 悠希, Moro Alessandro, 澤畠 武博, Pathak Sarthak, 梅田 和昇

    2024年度精密工学会春季大会学術講演会  2024.3 

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  • コマンド空間を用いてジェスチャで家電を操作するシステムのHoloLensを用いた可視化と調整

    望月 勇伸, 横田 雅恵, Pathak Sarthak, 梅田 和昇

    2024年度精密工学会春季大会学術講演会  2024.3 

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  • 画像を用いたソフトハンドの変形推定

    甲斐 亮吾, 磯邉 柚香, Sarthak Pathak, 梅田 和昇

    第29回ロボティクスシンポジア  2024.3 

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  • 背景差分法によるラインレーザとステレオカメラを用いたリアルタイム3次元計測

    野中 隼矢, Sarthak Pathak, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2024  2024.3 

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  • 画像から抽出される剣先情報と骨格点を用いたフェンシング競技での攻撃優先権の認識と可視化

    澤畠 武博, Sarthak Pathak, Alessandro Moro, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2024  2024.3 

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  • アノテーションデータを活用したデータ拡張によるインスタンスセグメンテーションを用いた組立進捗推定

    湯本 茂樹, 三浦 一真, Sarthak Pathak, Alessandro Moro, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2024  2024.3 

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  • 背景情報を考慮したインスタンスセグメンテーションによる組立進捗推定

    湯本 茂樹, 三浦 一真, Alessandro Moro, Sarthak Pathak, 梅田 和昇

    第24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  2023.12 

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  • 人物追跡と腕指しによる複数人物下での家電操作システム

    横田 雅恵, Sarthak Pathak, 梅田 和昇

    第24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  2023.12 

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  • Indoor 3D measurement using camera pose estimation based on line features

    Iriyama Shingo, Pathak Sarthak, Umeda Kazunori

    Proceedings of JSPE Semestrial Meeting  2023.9  The Japan Society for Precision Engineering

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    Event date: 2023.9    

    Language:Japanese   Presentation type:Oral presentation (general)  

    This study proposes a measurement method for the interior of large structures for infrastructure maintenance and inspection. The 3D point cloud of a room is obtained by a light section method using sphere camera that can capture a 360-degree view of the surrounding area and a 360-degree ring laser. Specifically, the camera's orientation is determined by detecting line components in real space using the spherical camera images and comparing the distribution of these line components with the three directions in real space, based on the Manhattan world assumption. Using the camera's orientation, the 3D point cloud of the entire room is generated by integrating the point clouds obtained from multiple light sections.

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  • 接触点の予測に基づく画像を用いたIn-Hand Manipulation

    磯邉 柚香, 姜 淳煕, 島本 武史, 松山 吉成, Sarthak Pathak, 梅田 和昇

    第41 回日本ロボット学会学術講演会  2023.9 

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  • 物体追跡のための物体検出しきい値の深層学習による最適推定

    三浦一真, 橘川拓実, PATHAK Sarthak, 梅田和昇

    第29回画像センシングシンポジウム(SSII2023)  2023.6 

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    Event date: 2023.6    

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  • Improvement of Sequential SLAM by Considering Semi-dynamic Objects in Indoor Dynamic Environments

    OSHIKUBO Yuhei, AKIBA Keigo, PATHAK Sarthak, JI Yonghoon, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Poster presentation  

    In this paper, we propose sequential SLAM considering semi-dynamic objects that is robust in dynamic indoor environments. Generally, accuracy of SLAM decreases in dynamic environments and environments with few geometric features. Therefore, this method provides semantic information in addition to geometric information via object detection, and extracts point clouds that are effective for localization by considering the attributes and relationships of the objects. Moreover, this method can extract more features even in environments where there are few static objects and be clearly identify how to use each of object point cloud for SLAM by adopting the concept of semi-dynamic objects. This is expected to improve the accuracy of SLAM.

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  • Construction of a Camera-Based System for Controlling Home Application via Arm Pointing

    YOKOTA Masae, MAJIMA Soichiro, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Recently, in addition to the use of remote controllers and voice recognition, gesture-based methods have been studied as a way to operate home appliances. In this research, we construct an intuitive system in which home appliances are selected and operated via arm pointing. The conventional method uses 3D information of home appliances prepared in advance, but our proposed system can handle home appliances from only image without requiring their positions in advance. We conducted an evaluation experiment of the proposed system and obtained a high gesture recognition rate. In addition, a usability study also indicated good results for real world use.

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  • Multi-User Home Appliance Operation System via Individual Command Spaces

    MAJIMA Soichiro, YOKOTA Masae, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Poster presentation  

    This study proposes a gesture-based home appliance operation system that can support multiple users. In recent years, increasing complexity of home appliances has led to interest in gesture-based operation. Many systems have been developed to operate home appliances by recognizing gestures from camera images. However, conventional systems require an operator to memorize a large number of gestures and have problems of misoperation. To solve these problems, the proposed system introduces an operator specific command space and a start gesture. The effectiveness of the proposed system was verified by experiments, with an average recognition rate of around 95 %. This ensures that the system can be used by multiple operators.

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  • Grasping of Brittle/Deformable Food Using Image Feedback Control with an Underactuated Hand

    KAI Ryogo, ISOBE Yuzuka, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Poster presentation  

    In this paper, we propose an image feedback control for an underactuated hand to grasp brittle/deformable food without damaging it. Automation using robots in food factories are being promoted to compensate labor shortages and improve productivity. Since food products vary in shape and hardness and are difficult to be grasped by conventional robots, robot hands that conform to the shape of the object have been developed. In this research, we aimed to control an underactuated hand by using a monocular camera, without sensor or marker. In our method, we detect the deformation of the object using optical flow, adjust appropriate grasping force using area information of robot hand, and detect the grasping state using the relative displacement of the object and the hand. Through the experiments, twelve types of real foods were successfully grasped without dropping and without damaging expect two foods.

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  • Obstacle Detection and Height Estimation Using Disparity and Intensity Information with a Fish-eye Stereo Camera

    CHIKUGO Hikaru, ARAI Kento, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Poster presentation  

    In this paper, we propose a method for obstacle detection and height estimation using a fish-eye stereo camera. Disparity and intensity information is used. The method using only disparity information may incorrectly detect road surface as obstacles. Therefore, we obtain the intensity of the road surface by using the obstacle information obtained from the disparity and compare the intensity throughout the entire image to detect obstacles. Experiments show that the proposed method using the disparity and intensity information can detect only obstacles without detecting the road surface as obstacles. Experiments also show an improvement in the accuracy of height estimation.

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  • Improvement of measurement method for compact range image sensor using disparity and blur of multi-slit laser

    TOYOSHIMA Ryutaro, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Poster presentation  

    In this paper, we propose an improved distance measurement method using blur for 3D measurement. Stereo disparity is often used for 3D measurement, but when a target object is too close to the sensor, it cannot be obtained properly. To solve this problem, we develop a compact range image sensor capable of close-range measurement focusing on the amount of blur using a multi-slit laser and a camera.

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  • A teaching system of archery shooting using 3D pose estimation by deep learning

    MICHIWAKI Takuma, PATHAK Sarthak, UMEDA Kazunori

    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   Presentation type:Poster presentation  

    Archery is a sport in which it is important to repeat the same shooting form and to improve its repeatability. For this reason, it is essential to understand and master the basic shooting form. However, there is a shortage of instructors, and in university club activities, the burden of teaching is placed on the senior students. A possible solution to this problem is the use of a practice support system based on sports video analysis, but existing systems have a fixed positional relationship between the camera and the person to be measured, and it is necessary to create the same environment each time the system is used. Therefore, this study proposes a sports practice support system that uses 3D skeletal point information extracted from video images to evaluate the learner’s shooting style in terms of points, eliminating the need to fix the positional relationship between the camera and the learner and allowing easy recognition of points that need improvement.

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  • Improving The Accuracy of Visual Localization for UAV Using Satellite Imagery by Semantic Segmentation

    TOKUONO Riku, PATHAK Sarthak, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023.6  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Poster presentation  

    In this paper, we propose a method to accurately estimate the position of a UAV on satellite images by using the region information of buildings extracted by semantic segmentation for UAV pose estimation. The localization of UAV using satellite images is based on the similarity between images features using intensity information. However, the estimation accuracy of intensity information alone is degraded by changes in the seasons and moving objects. Therefore, in addition to the intensity information, the proposed meathod uses information on building areas extracted by semantic segmentation from overhead images to improve the accuracy of position estimation.

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  • 劣駆動ハンドによる物体把持のための画像フィードバック制御

    甲斐 亮吾, 磯邉 柚香, Sarthak Pathak, 梅田 和昇

    第30回 精密工学会 学生会員卒業研究発表講演会  2023.3 

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  • 魚眼縦ステレオ法による高精度魚眼ステレオカメラの構築

    新井 健斗, 筑後 光, Sarthak Pathak, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2023講演論文集  2023.3 

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  • オクルージョンを考慮した深層距離学習による組立作業の進捗段階の推定

    橘川 拓実, 湯本 茂樹, Sarthak Pathak, Alessandro Moro, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2023  2023.3 

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  • インスタンスセグメンテーションを用いた組立進捗推定

    湯本 茂樹, 橘川 拓実, Sarthak Pathak, Alessandro Moro, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2023  2023.3 

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  • ドアを用いたパーティクルフィルタによる移動ロボットの自己位置推定の精度評価

    景山 祉織, 秋庭 啓吾, 田所 功, 鈴木 龍紀, 池 勇勳, 梅田 和昇

    第40回日本ロボット学会学術講演会予稿集  2022.9 

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  • マルチスリットレーザを用いた距離画像センサのリアルタイム化と計測範囲拡大

    佐々木 渉, 顔 世荀, Sarthak Pathak, 梅田 和昇

    2022年度精密工学会秋季大会学術講演会講演論文集  2022.9 

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  • Deep Metric Learning を用いた組立作業の進捗判定

    橘川 拓実, Alessandro Moro, Sarthak Pathak, 原田 佳周, 西川 英雄, 野口 稔, 濱谷 章史, 梅田 和昇

    2022年度精密工学会秋季大会学術講演会講演論文集  2022.9 

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  • 画像のテクスチャ情報および色情報を幾何学的に考慮した3眼全天球ステレオカメラによる全方位3次元計測の精度向上

    濱田拓海, Sarthak Pathak, 梅田和昇

    2022年度精密工学会秋季大会学術講演会講演論文集  2022.9 

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  • GAN による配管内画像を用いた異常検知

    湯本茂樹, 橘川拓実, モロ アレサンドロ, パトハック サーサク, 中村太郎, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2022講演論文集  2022.6 

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  • 配管内画像列からのカメラの運動推定と配管 3 次元点群の構築

    入山真伍, Sarthak Pathak, 中村太郎, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2022講演論文集  2022.6 

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  • ラインレーザを用いたステレオカメラによる高精度 3 次元計測

    野中隼矢, 梅田和昇, Sarthak Pathak

    日本機械学会ロボティクス・メカトロニクス講演会2022講演論文集  2022.6 

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  • 魚眼ステレオカメラを用いた路面平面と障害物高さ推定手法の GPU 実装

    佐久田朝優, 新井健斗, Sarthak Pathak, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2022講演論文集  2022.6 

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  • 全天球カメラによるドア高さ情報を用いた自己位置推定のためのディスクリプタ設計

    小笠遼太, Sarthak Pathak, 濱田拓海, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2022講演論文集  2022.6 

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  • 画像から抽出された骨格点を用いたフェンシング競技での得点判定

    澤畠 武博, Alessandro Moro, Sarthak Pathak, 梅田 和昇

    第28回画像センシングシンポジウム (SSII2022)  2022.6 

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  • 大きさや硬さの異なる物体をつまみ上げ可能な画像を用いたロボットハンド制御

    磯邉 柚香, Pathak Sarthak, 梅田 和昇, 橋本 裕介, 松山 吉成, 松田 卓, 金田 侑, 池内 宏樹, 多田隈 建二郎

    第27回ロボティクスシンポジア予稿集  2022.3 

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  • マーキングによるステレオカメラを用いた3 次元計測の高精度化

    吉村 光顕, Sarthak Pathak, 梅田 和昇

    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講演論文集 (SI2021)  2021.12 

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  • コマンド空間での複数ジェスチャにより家電を操作するシステムの構築

    眞嶋 宗一郎, 顔 世荀, Pathak Sarthak, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2021  2021.9 

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  • 手書き地図における直線情報観測確率を活用した屋内向けSLAM

    鈴木 龍紀, 池 勇勳, Sarthak Pathak, 梅田 和昇

    第39回日本ロボット学会学術講演会予稿集  2021.9 

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  • 魚眼ステレオカメラを用いた視差画像のおける分割スケールに着目した路面平面と障害物高さ推定

    佐久田 朝優, 大橋 明, 福田 大輔, Sarthak Pathak, 梅田 和昇

    第39回日本ロボット学会学術講演会予稿集  2021.9 

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  • 3次元点群データの位置合わせのための深層学習を用いた部分的特徴抽出

    顔 世荀, Sarthak Pathak, 梅田 和昇

    2021年度精密工学会秋季大会学術講演会講演論文集  2021.9 

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  • マルチスリットレーザとカメラによる視差と像のぼけを組み合わせた近距離計測用小型距離画像センサ

    大橋 嘉倫, 顔 世荀, Sarthak Pathak, 梅田 和昇

    2021年度精密工学会秋季大会学術講演会講演論文集  2021.9 

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  • YOLOを用いた人除去処理によるICP-SLAMの性能向上

    秋庭 啓吾, 鈴木 龍紀, 池 勇勳, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2021講演論文集  2021.6 

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  • 環境の形状情報と溜水におけるバイナリ属性を考慮したパーティクルフィルタによる移動ロボットの自己位置推定

    田所 功, 片岡 良介, 鈴木 龍紀, 池 勇勳, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2021講演論文集  2021.6 

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  • LiDARの反射強度及び溜水の計測情報を利用した大域的点群位置合わせによるSLAMの性能向上

    片岡 良介, 田所 功, 池 勇勳, 藤井 浩光, 河野 仁, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2021講演論文集  2021.6 

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  • 敵対的生成ネットワークを用いた動画像異常検知における背景除去の有用性の検討

    塚越 健太郎, 橋本 慧志, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2021講演論文集  2021.6 

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  • 配管内画像からの配管歪み量推定

    小菅 海人, 大山 暁, 佐藤 広都, 内山 航輔, 中村 太郎, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2021講演論文集  2021.6 

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  • 工場内の台車に取り付けたARマーカ認識システムの提案

    橘川 拓実, 高橋 正裕, モロ アレサンドロ, 原田 佳周, 西川 英雄, 野口 稔, 濱谷 章史, 梅田 和昇

    第27回画像センシングシンポジウム (SSII2021)  2021.6 

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  • PointpartNet:位置合わせのための 3次元点群の部分的特徴抽出

    顔 世荀, Sarthak Pathak, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2022講演論文集  2021.3 

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  • 2台のカメラを用いた移動ロボットの3次元人物追跡における追跡復帰機能の実現

    松原 慎也, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2021講演論文集  2021.3 

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  • VAEを用いた配管内画像からの錆の検出

    大山 暁, 佐藤 広都, 小菅 海人, 内山 航輔, 中村 太郎, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2021講演論文集  2021.3 

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  • 擬似バイラテラルフィルタの改善による魚眼ステレオカメラの精度向上

    新井 健斗, 佐久田 朝優, 大橋 明, 福田 大輔, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2021講演論文集  2021.3 

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  • 時空間敵対的生成ネットワークにおけるU-Net Discriminatorの中間層特徴の融合による動画像異常検知

    橋本 慧志, 工藤 謙一, 高橋 孝幸, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2021講演論文集  2021.3 

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  • YOLO を用いた人除去処理により動的環境に適応した屋内 SLAM

    秋庭 啓吾, 鈴木 龍紀, 池 勇勳, Sarthak Pathak, 梅田 和昇

    第40回人間情報学会オーラルセッション講演集  2020.12 

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  • 時空間敵対的生成ネットワークを用いた教師なし学習による動画像異常検知

    橋本 慧志, 工藤 謙一, 高橋 孝幸, 梅田 和昇

    ビジョン技術の実利用ワークショップViEW2020  2020.12 

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  • 時空間敵対的生成ネットワークを用いた 動画像における異常行動検知

    橋本 慧志, 工藤 謙一, 高橋 孝幸, 梅田 和昇

    第37回人間情報学会オーラルセッション講演集  2020.12 

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  • グラフ畳み込みを用いたカラー画像と距離画像による高速な3次元物体検出

    高橋 正裕, Alessandro Moro, 梅田 和昇

    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講演論文集 (SI2020)  2020.12 

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  • 魚眼ステレオカメラを用いた路面平面と障害物高さ推定

    佐久田 朝優, 大橋 明, 福田 大輔, 池 勇勳, 梅田 和昇

    第38回日本ロボット学会学術講演会予稿集  2020.10 

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  • 手書き地図の直線情報の対応関係を活用した屋内向けSLAM

    鈴木 龍紀, 池 勇勳, 梅田 和昇

    第38回日本ロボット学会学術講演会予稿集  2020.10 

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  • 追加ラベルを組み込んだ深層生成モデルを用いた時系列骨格情報による人物識別

    浅見 直人, Alessandro Moro, 池 勇勳, 梅田 和昇

    第38回日本ロボット学会学術講演会予稿集  2020.10 

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  • LiDARの反射強度及び溜水の計測情報を利用したICPによるSLAM

    片岡 良介, 鈴木 龍紀, 池 勇勳, 藤井 浩光, 河野 仁, 梅田 和昇

    第38回日本ロボット学会学術講演会予稿集  2020.10 

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  • マルチスリットレーザと小型カメラによる像のぼけを利用した小型距離画像センサのオンライン計測

    大橋 嘉倫, 池 勇勳, 梅田 和昇

    2020年度精密工学会秋季大会学術講演会講演論文集  2020.9 

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  • ステレオカメラを用いた溶接ビードのマーキング箇所の断面形状推定

    吉村 光顕, 池 勇勳, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2020  2020.9 

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  • GANを活用した動画像異常検知手法の構築と労働災害防止へ向けた応用の検討

    橋本 慧志, 工藤 謙一, 高橋 孝幸, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2020  2020.9 

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  • OpenPoseで取得した時系列骨格データからの深層生成モデルによる個人識別

    浅見 直人, Alessandro Moro, 池 勇勳, 梅田 和昇

    第26回画像センシングシンポジウム (SSII2020)  2020.6 

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  • 二台のカメラを用いた OpenPose の骨格抽出による移動ロボットの 3 次元人物追跡

    松原 慎也, 池 勇勳, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2020講演論文集  2020.5 

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  • 人の回避の意図に応じた移動ロボットの運動生成

    鈴木 翔太, 片岡 良介, 池 勇勳, 藤井 浩光, 河野 仁, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2020講演論文集  2020.5 

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  • 遅延を伴う移動ロボット遠隔操作時における血圧脈波によるストレス評価

    岡島 康二, 端 智士, 堀 正峻, 土肥 徹次, 池 勇勳, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2020講演論文集  2020.5 

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  • 簡単なジェスチャでコマンド空間を設定し家電操作可能なシステム

    顔 世荀, 池 勇勳, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2020講演論文集  2020.5 

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  • 環境の持つ物理的属性を考慮した 3 次元地図生成

    鈴木 龍紀, 片岡 良介, 池 勇勳, 藤井 浩光, 河野 仁, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2020講演論文集  2020.5 

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  • 魚眼ステレオカメラによるStructure from Motionのための移動物体検出

    飯田 浩貴, 池 勇勳, 梅田 和昇, 大橋 明, 福田 大輔, 金子 修造, 村山 純哉

    動的画像処理実利用化ワークショップDIA2020講演論文集  2020.3 

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  • 環境の持つ物理的属性を考慮したICPとループ閉じ込みにおけるSLAM

    片岡 良介, 鈴木 龍紀, 池 勇勳, 藤井 浩光, 河野 仁, 梅田 和昇

    第25回ロボティクスシンポジア予稿集  2020.3 

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  • ぼけを利用したスリット像判別による距離画像センサの計測範囲拡大

    藤井 奈穂, 池 勇勳, 梅田 和昇

    2020年度精密工学会春季大会学術講演会論文集  2020.3 

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  • 深層学習と単眼カメラを用いた骨格による人物識別手法の構築

    浅見直人, 高橋正裕, 橋本慧志, Alessandro Moro, 池勇勳, 梅田和昇

    第34回人間情報学会オーラルセッション講演集  2019.12 

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  • 色と距離情報を入力とした 3 次元拡張型 YOLO

    高橋 正裕, Alessandro Moro, 池 勇勳, 梅田 和昇

    第20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論文集 (SI2019)  2019.12 

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  • 労働災害防止のための動画像を用いた深層学習による異常検知手法

    橋本 慧志, 池 勇勳, 工藤 謙一, 高橋 孝幸, 梅田 和昇

    第20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論文集 (SI2019)  2019.12 

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  • カメラの位置・姿勢を考慮した配管内画像列からの配管3次元地図作成

    大山 暁, 飯田 浩貴, 池 勇勳, 梅田 和昇, 眞野 雄貴, 保井 拓巳, 中村 太郎

    第37回日本ロボット学会学術講演会予稿集  2019.9 

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  • マルチスリットレーザプロジェクタを用いた距離画像センサの計測範囲拡大

    藤井 奈穂, 池 勇勳, 梅田 和昇

    2019年度精密工学会秋季大会学術講演会講演論文集  2019.9 

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  • マルチスリットレーザと小型カメラによる像のぼけを利用した小型距離画像センサ

    津村 一輝, 池 勇勳, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2019講演論文集  2019.6 

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  • 骨格情報を利用した労働災害防止のための深層学習に基づく異常検知手法

    橋本 慧志, 池 勇勳, 工藤 謙一, 高橋 孝幸, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2019講演論文集  2019.6 

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  • 人間との共存環境における移動ロボットのスムーズな運動制御

    片岡 良介, 池 勇勳, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2019講演論文集  2019.6 

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  • 複数の視差オフセットマップの組み合わせによる魚眼ステレオカメラの高精度化

    凌 佳怡, 飯田 浩貴, 池 勇勳, 梅田 和昇, 大橋 明, 福田 大輔, 金子 修造, 村山 純哉, 内田 吉孝

    第25回画像センシングシンポジウム (SSII2019)  2019.6 

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  • ステレオカメラによるYOLOと 3 次元点群を利用した人物検出

    高橋 正裕, Alessandro Moro, 池 勇勳, 梅田 和昇

    第25回画像センシングシンポジウム (SSII2019)  2019.6 

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  • 画像 2 枚間の特徴点の移動量を用いた魚眼カメラの歪補正手法の構築

    長澤 知史, 池 勇勳, 梅田 和昇

    第25回画像センシングシンポジウム (SSII2019)  2019.6 

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  • マルチスリットレーザを用いた近距離計測用超小型距離画像センサの構築

    福田智章, 池 勇勳, 梅田和昇

    第24回ロボティクスシンポジア予稿集  2019.3 

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  • 魚眼ステレオカメラにおける異なる計測手法の融合

    飯田浩貴, 池 勇勳, 梅田和昇, 大橋 明, 福田大輔, 金子修造, 村山純哉, 内田吉孝

    第24回ロボティクスシンポジア予稿集  2019.3 

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  • 鏡の利用による距離画像計測の高度化 -距離画像中の鏡の検出-

    増村 駿, 池 勇勳, 梅田和昇

    2019年度精密工学会春季大会学術講演会論文集  2019.3 

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  • ステレオカメラによる YOLOと3次元点群を用いた人物検出

    高橋 正裕, 池 勇勳, 梅田 和昇

    第31回人間情報学会オーラルセッション講演集  2018.12 

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  • 人工物環境における直線情報を用いたカメラの外部パラメータ推定法

    池 勇勳, 山下 淳, 梅田 和昇, 淺間 一

    第19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論文集 (SI2018)  2018.12 

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  • 移動ロボットによる3次元人物追跡のための2台のカメラを用いたパーティクルフィルタによる人物検出

    橋本 慧志, 本多 明彦, 池 勇勳, 梅田 和昇

    第19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論文集 (SI2018)  2018.12 

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  • 二台のカメラのトラッキングの融合による移動ロボットの3次元人物追跡

    本多 明彦, 池 勇勳, 梅田 和昇

    第19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論文集 (SI2018)  2018.12 

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  • 操作者がコマンド空間を設定可能な手振りによる家電操作システム

    顔 世荀, 池 勇勳, 梅田 和昇

    第19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論文集 (SI2018)  2018.12 

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  • 複数の視差オフセットマップの組み合わせによる魚眼ステレオカメラの高精度化

    凌 佳怡, 飯田 浩貴, 池 勇勳, 梅田 和昇

    ビジョン技術の実利用ワークショップViEW2018  2018.12 

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  • 配管内画像からの配管3 次元地図作成-オプティカルフローを用いた配管中心の決定-

    大山 暁, 飯田 浩貴, 池 勇勳, 梅田 和昇, 眞野 雄貴, 保井 拓巳, 中村 太郎

    ビジョン技術の実利用ワークショップViEW2018  2018.12 

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  • TOF距離画像センサとステレオカメラの組み合わせによる高精度距離画像生成

    福田 知章, 池 勇勳, 梅田 和昇

    2018年度精密工学会秋季大会学術講演会講演論文集  2018.9 

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  • マルチスリットレーザプロジェクタを用いたRGB-Dセンサによるテクスチャを有する3次元地図生成

    藤井 奈穂, 木村 優志, 池 勇勳, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2018  2018.8 

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  • クロスラインレーザとカメラを用いた計測面の法線計測可能な小型距離画像センサの開発

    津村 一輝, 林 遠球, 池 勇勳, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2018  2018.8 

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  • 配管内画像からの配管3次元地図作成

    田中 宏樹, 山野 史登, 菱木 暁彦, 梅田 和昇, 石川 龍太郎, 眞野 雄貴, 中村 太郎

    日本機械学会ロボティクス・メカトロニクス講演会2018講演論文集  2018.6 

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  • 二台のカメラのトラッキングの融合による移動ロボットの3次元人物追跡

    本多 明彦, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2018講演論文集  2018.6 

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  • RGB-Dセンサを用いた簡易に構築可能な手振りによる家電操作システム

    鹿野 巧, 顔 世荀, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2018講演論文集  2018.6 

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  • 軌道のスコアに基づく逆強化学習を用いた非線形な報酬関数の推定

    渡邉 夏美, 増山 岳人, 梅田 和昇

    2018年度人工知能学会全国大会JSAI2018論文集  2018.6 

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  • 魚眼ステレオカメラの複数ステレオ画像対を用いた距離画像計測

    飯田 浩貴, 山野 史登, 梅田 和昇, 大橋 明, 福田 大輔, 金子 修造, 村山 純哉, 内田 吉孝

    第24回画像センシングシンポジウム (SSII2018)  2018.6 

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  • カメラの回転を利用した魚眼カメラの内部パラメータ推定

    菱木 暁彦, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2018講演論文集  2018.3 

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  • 単眼カメラから得られる骨格情報を用いた人物識別—CNNとSVMの比較—

    戸田哲郎, Alessandro Moro, 梅田和昇

    2018年度精密工学会春季大会学術講演会論文集  2018.3 

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  • 視差オフセットマップによる魚眼ステレオカメラの高精度化

    山野史登, 飯田浩貴, 梅田和昇, 大橋 明, 福田大輔, 金子修造, 村山純哉, 内田吉孝

    2018年度精密工学会春季大会学術講演会論文集  2018.3 

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  • 異なる距離画像センサの組み合わせによる高精度計測

    福田 智章, 梅田 和昇

    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講演論文集 (SI2017)  2017.12 

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  • 距離画像計測手法の概要とその応用 Invited

    梅田和昇

    住友化学現地指導講演会  2017.12 

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  • 距離濃淡画像を用いた 2D/3D レジストレーションにおけるマッチング特徴量の検討

    増村 駿, 増山 岳人, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2017  2017.9 

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  • インテリジェントルームにおける複雑な家電操作の実現

    鹿野 巧, 川村 拓也, 梅田 和昇

    第35回日本ロボット学会学術講演会予稿集  2017.9 

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  • 移動するステレオカメラによるオプティカルフローを用いた複数移動物体検出手法の改良と実験的評価

    戸田 哲郎, 増山 岳人, 梅田 和昇

    第35回日本ロボット学会学術講演会予稿集  2017.9 

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  • カメラを回転させた時の特徴点軌跡を用いた魚眼カメラの内部パラメータ推定 ―モデルと評価関数の変更による精度と安定性の検証―

    菱木 暁彦, 田中 祐輝, 梅田 和昇

    2017年度精密工学会秋季大会学術講演会講演論文集  2017.9 

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  • 自動運転・AI技術の展望 Invited

    梅田和昇

    第21回大垣市21世紀ビジョン懇談会  2017.8 

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  • 屋外での使用が可能な視差画像差分を用いた人数推定

    加藤 貴大, 戸田 哲郎, 増山 岳人, 梅田 和昇

    第23回画像センシングシンポジウム (SSII2017)  2017.6 

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  • マルチスリットレーザプロジェクタを利用した距離画像センサを用いた微小運動の直接推定による三次元地図生成

    木村優志, 増山岳人, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2017講演論文集  2017.5 

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  • スコアに基づく逆強化学習のための動的計画法による軌道の自己生成

    渡邉夏美, 増山岳人, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2017講演論文集  2017.5 

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  • 正距円筒画像のステレオ平行化

    大橋 明, 山野 史登, 増山 岳人, 梅田 和昇, 福田 大輔, 入江 耕太, 金子 修造, 村山 純哉, 内田 吉孝

    動的画像処理実利用化ワークショップDIA2017講演論文集  2017.3 

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  • Kinectを用いた手振りによる操作者基準の家電操作システム

    鹿野 巧, 増山 岳人, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2017講演論文集  2017.3 

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  • 検品自動化のための画像処理による平面上衣服の寸法計測

    高橋 京平, 増山 岳人, 梅田 和昇, 長田 敏明, 古島 一男

    2017年度精密工学会春季大会学術講演会論文集  2017.3 

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  • マルチスリットレーザプロジェクタを用いた小型距離画像センサにおけるスリット像のボケを利用した距離画像計測

    徳王 耀介, 木村 優志, 増山 岳人, 梅田 和昇

    2017年度精密工学会春季大会学術講演会論文集  2017.3 

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  • 赤外線カメラを用いた地形傾斜推定法

    渡邉 哲志, 大津 恭平, 大槻 真嗣, 久保田 孝, 増山 岳人, 梅田 和昇

    第22回ロボティクスシンポジア予稿集  2017.3 

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  • 精密工学のための画像処理最前線 Invited

    精密工学会講習会第383回講習会「基礎講座 画像処理技術 – パターン認識からディープラーニングまで」  2016.10 

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  • 複数魚眼カメラの外部パラメータ推定における校正マーカー特徴点の高精度抽出

    菱木 暁彦, 増山 岳人, 梅田 和昇

    2016年度精密工学会秋季大会学術講演会講演論文集  2016.9 

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  • Kinectを用いた手振りによる家電操作システム

    鹿野 巧, 増山 岳人, 梅田 和昇

    第34回日本ロボット学会学術講演会予稿集  2016.9 

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  • 移動するステレオカメラによるオプティカルフローを用いた複数移動物体検出

    戸田 哲郎, 増山 岳人, 梅田 和昇

    2016.9 

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  • 魚眼カメラを用いたSfMによる3次元復元-カメラの運動の精度検証-

    山野 史登, 増山 岳人, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2016  2016.8 

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  • マルチスリット光を用いたカラーテクスチャ取得可能な小型距離画像センサの構築

    板垣 文瀬, 木村 優志, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2016講演論文集  2016.6 

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  • スリット像のぼけの計測と視差計測とを組み合わせたマルチスリットレーザプロジェクタを用いた小型距離画像センサの構築

    馮 益, 木村 優志, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2016講演論文集  2016.6 

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  • カメラを回転させた時の特徴点軌跡を用いた魚眼カメラの内部パラメータ推定手法の実機実験による検証

    田中 祐輝, 菱木 暁彦, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2016講演論文集  2016.6 

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  • 惑星探査ローバのための赤外線カメラを用いた地形傾斜推定に関する検討

    渡邉 哲志, 大津 恭平, 大槻 真嗣, 久保田 孝, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2016講演論文集  2016.6 

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  • 移動するステレオカメラによるオプティカルフローを用いた移動物体検出

    戸田 哲郎, 増山 岳人, 梅田 和昇

    第23回人間情報学会講演集  2016.4 

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  • 照明変動下における移動ロボットによる人物追跡-ターゲットと周囲の人物の相違性の考慮-

    磯邉 柚香, 増山 岳人, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2016講演論文集  2016.3 

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  • カメラを回転させた時の特徴点軌跡を用いた魚眼カメラの内部パラメータ推定-モデルと評価関数の変更による改良-

    田中 祐輝, 増山 岳人, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2016講演論文集  2016.3 

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  • 視差とぼけ計測とを組み合わせたマルチスリットレーザプロジェクタを用いた距離計測センサの構築

    馮 益, 増山 岳人, 梅田 和昇

    2016年度精密工学会春季大会学術講演会論文集  2016.3 

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  • ステレオカメラの自動調節機能を利用した照明変動の検知に基づく移動ロボットによる人物追跡

    磯邉 柚香, 増山 岳人, 梅田 和昇

    第21回ロボティクスシンポジア予稿集  2016.3 

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  • カラー画像のエッジ情報を利用した距離情報からの三次元地図生成

    木村 優志, 増山 岳人, 梅田 和昇

    第16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論文集 (SI2015)  2015.12 

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  • 逆強化学習における非演示軌道を利用した特徴期待値の算出

    五味 達朗, 増山 岳人, 梅田 和昇

    第16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論文集 (SI2015)  2015.12 

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  • 逆強化学習によるヘテロジニアスなシステム間の報酬転移

    増山 岳人, 梅田 和昇

    第33回日本ロボット学会学術講演会予稿集  2015.9 

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  • 周囲の人物の存在を考慮した移動ロボットによる照明変動下における人物追跡手法の構築

    磯邉 柚香, 増山 岳人, 梅田 和昇

    第33回日本ロボット学会学術講演会予稿集  2015.9 

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  • 魚眼ステレオカメラにおける正距円筒面画像の利用の有用性の検討

    大橋 明, 田中 祐輝, 増山 岳人, 梅田 和昇, 福田 大輔, 入江 耕太, 緒方 健人, 成田 達郎, 内田 吉孝

    2015年度精密工学会秋季大会学術講演会講演論文集  2015.9 

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  • カラー画像のオプティカルフローと距離画像を用いた微小運動の直接推定による三次元地図生成

    木村 優志, 野﨑 慎太, 増山 岳人, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2015  2015.8 

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  • Automatic Estimation of Initial Alignment in 2D/3D Registration using Structure from Motion

    Tomoya Ozaki, Toru Takahama, Gakuto Masuyama, Kazunori Umeda, Guy Godin

    6th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2015)  2015.8 

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  • カメラを回転させた時の特徴点軌跡を用いた魚眼カメラの内部パラメータ推定手法の構築

    田中 祐輝, 増山 岳人, 梅田 和昇

    2015.6 

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  • 指振りによる簡易な複数機器操作手法の構築

    今村 勇也, 浅野 秀胤, 増山 岳人, 梅田 和昇

    第21回画像センシングシンポジウム (SSII2015)  2015.6 

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  • 2つの人物検出手法の組み合わせと複数・チ徴量の利用による人物追跡

    川下 雄大, 増山 岳人, 梅田 和昇

    第21回画像センシングシンポジウム (SSII2015)  2015.6 

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  • 顔追跡を用いたドライバの姿勢状態判定

    髙橋 京平, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集  2015.5 

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  • マルチスリットレーザプロジェクタと内視鏡用カメラを組み合わせた超小型距離画像センサの構築

    馮 益, 野﨑 慎太, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集  2015.5 

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  • 正距円筒画像への変換を用いた魚眼ステレオカメラの構築

    大橋 明, 田中 祐輝, 増山 岳人, 梅田 和昇, 福田 大輔, 入江 耕太, 緒方 健人, 成田 達郎, 内田 吉孝

    日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集  2015.5 

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  • 法線ヒストグラムを用いたモデルベースの手指姿勢推定

    村井 隼人, 多田 充徳, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集  2015.5 

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  • オクルージョンを考慮した移動ロボットによる人物追跡

    磯邉 柚香, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集  2015.5 

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  • 距離画像とカラー画像を用いた微小運動の直接推定による三次元地図生成

    野崎慎太, 増山岳人, 梅田和昇

    第20回ロボティクスシンポジア予稿集  2015.3 

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  • 照明変動を考慮した色情報と位置情報の組み合わせに基づく移動ロボットの人物追跡

    磯邉 柚香, 増山 岳人, 梅田 和昇

    第20回ロボティクスシンポジア予稿集  2015.3 

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  • リアルタイム画像処理と地震学との接点を考える

    地震研究所研究集会「揺れの即時的予測システム:更なる高度化と新しい展開」  2015.1 

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  • 距離濃淡画像を用いた微小運動の直接推定による高速三次元地図生成

    野崎慎太, 増山岳人, 梅田和昇

    第32回日本ロボット学会学術講演会予稿集  2014.9 

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  • 逆強化学習による学習者の選好を考慮した報酬関数の推定

    増山岳人, 梅田和昇

    第32回日本ロボット学会学術講演会予稿集  2014.9 

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  • 2D/3DレジストレーションにおけるStructure from Motionを用いた高精度な初期位置合わせの実現

    尾崎 智哉, 高浜 徹, 増山 岳人, 梅田 和昇, Guy Godin

    2014年度精密工学会秋季大会学術講演会講演論文集  2014.9 

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  • 移動ロボットによる人物追跡のための照明変動にロバストな追跡対象の検出

    磯邉 柚香, 増山 岳人, 梅田 和昇

    2014年度精密工学会秋季大会学術講演会講演論文集  2014.9 

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  • 既存の平面テクスチャの勾配拘束によるレジストレーションを利用したカメラキャリブレーション

    田中 祐輝, 増山 岳人, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2014  2014.8 

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  • 2D/3DレジストレーションにおけるStructure from Motionを用いた初期位置合わせの自動化

    尾崎 智哉, 高浜 徹, 増山 岳人, 梅田 和昇, Guy Godin

    第17回 画像の認識・理解シンポジウム (MIRU2014)  2014.7 

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  • 距離濃淡画像を用いた実物体の三次元モデルにおける反射特性の推定

    高浜 徹, 尾崎 智哉, 増山 岳人, 梅田 和昇, Guy Godin

    第17回 画像の認識・理解シンポジウム (MIRU2014)  2014.7 

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  • 3次元画像計測の基礎とその応用 Invited

    精密工学会生産自動化専門委員会研究例会  2014.7 

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  • ステレオカメラを用いた追跡対象領域の抽出に基づく移動ロボットの人物追跡

    磯邉 柚香, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2014講演論文集  2014.5 

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  • 法線ヒストグラムを用いた手の姿勢推定

    村井 隼人, 多田 充徳, 増山 岳人, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2014講演論文集  2014.5 

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  • ステレオカメラを用いたインスタントな人流計測センサ

    柴田 雅聡, 川下 雄大, 増山 岳人, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2014講演論文集  2014.3 

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  • 球体を用いた魚眼カメラの校正における制約条件緩和の検討

    寺林 賢司, 大岩 孝彰, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2014講演論文集  2014.3 

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  • 校正マーカーを用いた複数魚眼カメラの外部パラメータ推定のシミュレーション による精度評価

    岡本 寛也, Abdelaziz Khiat, 下村 倫子, 増山 岳人, 梅田 和昇

    ビジョン技術の実利用ワークショップViEW2013講演論文集  2013.12 

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  • 高速RGB-Dセンサを用いた三次元地図生成

    野﨑 慎太, 内田 裕己, 増山 岳人, 梅田 和昇

    第14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論文集 (SI2013)  2013.12 

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  • 差分ステレオと進行方向を考慮したパーティクルフィルタによる人物追跡

    川下 雄大, 柴田 雅聡, 増山 岳人, 梅田 和昇

    第14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論文集 (SI2013)  2013.12 

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  • 階層型強化学習におけるスキル価値の汎化に基づいた探索空間の縮減

    増山 岳人, 山下 淳, 淺間 一, 梅田 和昇

    第31回日本ロボット日本ロボット学会学術講演会予稿集  2013.9 

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  • コマンド空間を用いた家電操作手法の改良と実験による認識率の検証

    今村 勇也, 永易 武, 浅野 秀胤, 増山 岳人, 梅田 和昇

    第31回日本ロボット学会学術講演会予稿集  2013.9 

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  • 操作者形状の限定によるコマンド空間を用いた家電操作手法の改良

    今村 勇也, 永易 武, 浅野 秀胤, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2013  2013.8 

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  • 既知パターンを用いた複数魚眼カメラの外部パラメータ推定

    岡本 寛也, Abdelaziz Khiat, 下村 倫子, 梅田 和昇

    第19回 画像センシングシンポジウム(SSII2013)  2013.6 

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  • マルチスポット光を用いた距離画像センサの計測距離拡大

    野﨑 慎太, 内田 裕己, 梅田 和昇

    日本機械学会ロボティクス・メカトロニクス講演会2013講演論文集  2013.5 

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  • 差分ステレオとパーティクルフィルタによる人物追跡

    川下 雄大, 柴田 雅聡, 有江 誠, 生形 徹, 寺林 賢司, 梅田 和昇

    2013.5 

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  • 操作者周辺に固定したコマンド空間を用いた家電操作手法の構築

    今村 勇也, 永易 武, 浅野 秀胤, 武田 泰幸, 梅田 和昇

    電気学会研究会資料(知覚情報研究会)  2013.4 

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  • 網膜神経線維層厚の特徴を用いた緑内障疾患領域の検出

    滝田清, 寺林賢司, 梅田和昇, 富所敦男

    動的画像処理実利用化ワークショップDIA2013講演論文集  2013.3 

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  • 操作者の姿勢を考慮した3次元ジェスチャ認識

    武田泰幸, 浅野秀胤, 今村勇也, 寺林賢司, 梅田和昇

    動的画像処理実利用化ワークショップDIA2013講演論文集  2013.3 

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  • マルチスリット光を用いた超小型距離画像センサによるデフォーカスを用いた近距離計測手法の提案

    岩崎一也, 寺林賢司, 梅田和昇

    動的画像処理実利用化ワークショップDIA2013講演論文集  2013.3 

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  • RGB-Dカメラを用いた三次元地図生成

    内田裕己, 寺林賢司, 梅田和昇

    動的画像処理実利用化ワークショップDIA2013講演論文集  2013.3 

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  • 差分ステレオを実装したステレオカメラの構築

    柴田雅聡, 脇本崇史, 川下雄大, 梅田和昇, 戸辺義人

    2013年度精密工学会春季大会学術講演会講演論文集  2013.3 

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  • 魚眼カメラを用いたEPI解析による3次元環境復元の精度検証

    岡本寛也, 寺林賢司, 梅田和昇

    精密工学会画像応用技術専門委員会サマーセミナー2012  2012.9 

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  • 差分ステレオに基づく人物検出における二次元画像の利用

    柴田雅聡, 生形徹, 有江誠, モロ アレサンドロ, 寺林賢司, 梅田和昇

    平成24年電気学会電子・情報・システム部門大会予稿集  2012.9 

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  • 同軸系テクスチャ付距離画像センサの構築

    内田裕己, 寺林賢司, 梅田和昇

    第30回日本ロボット日本ロボット学会学術講演会予稿集  2012.9 

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  • ロボットハンドに適した超小型距離画像センサ

    岩崎一也, 寺林賢司, 梅田和昇

    第30回日本ロボット日本ロボット学会学術講演会予稿集  2012.9 

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  • オプティカルフローを用いた移動手振り検出

    浅野秀胤, 織茂達也, 寺林賢司, 太田 睦, 梅田和昇

    画像の認識・理解シンポジウム (MIRU2012)  2012.8 

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  • SIFTと勾配拘束の組み合わせによる距離濃淡画像を用いた高精度な2D/3Dレジストレーション

    猪股亮, 高浜徹, 寺林賢司, 梅田和昇, ギー ゴダン

    画像の認識・理解シンポジウム (MIRU2012)  2012.8 

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  • 網膜神経線維層厚の非対称性を用いた緑内障疾患領域の検出

    滝田清, 寺林賢司, 梅田和昇, 富所敦男

    2012年度精密工学会秋季大会学術講演会講演論文集  2012.8 

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  • OCT画像から得られる網膜の層情報を用いた緑内障診断補助

    滝田清, 西優紀美, 寺林賢司, 梅田和昇, 富所敦男

    第18回 画像センシングシンポジウム(SSII2012)  2012.6 

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  • 操作者に固定された相対座標における指振りを用いた簡便な家電操作システムの構築

    永易武, 浅野秀胤, 寺林賢司, 梅田和昇

    第18回 画像センシングシンポジウム(SSII2012)  2012.6 

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  • 輝度勾配方向によるテンプレートマッチングを用いた高速な人物探索手法に基づく人物検出

    有江誠, 生形徹, 柴田雅聡, モロ アレサンドロ, 寺林賢司, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2012講演論文集  2012.5 

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  • 接触重心位置変化に着目した持ち上げ動作の解析

    佐藤恭平, 多田充徳, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2012講演論文集  2012.5 

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  • 距離画像センサを用いた操作者の姿勢を考慮に入れたジェスチャ認識システムの構築

    武田泰幸, 浅野秀胤, 寺林賢司, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2012講演論文集  2012.5 

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  • 把握データベースの構築と把握解析への応用

    木村加奈子, 有木由香, 多田充徳, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2012講演論文集  2012.5 

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  • 距離画像セグメンテーションに基づくリアルタイム人物検出

    生形 徹, 有江 誠, アレサンドロ・モロ, 寺林賢司, 梅田和昇

    動的画像処理実利用化ワークショップDIA2012講演論文集  2012.3 

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  • インテリジェントルームにおける絵のリモコンでの家電操作の実現

    呂紅松, 浅野秀胤, 寺林賢司, 梅田和昇

    2012年度精密工学会春季大会学術講演会講演論文集  2012.3 

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  • マルチパターン光投影による高速距離画像センシングならびにヒューマノイドの障害物回避などへの応用 Invited

    大阪電気通信大学招待講演  2012.3 

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  • 色のクラスタリングを用いた指差し方向認識

    浅野秀胤, 永易武, 織茂達也, 寺林賢司, 太田睦, 梅田和昇

    ビジョン技術の実利用ワークショップViEW2011 講演論文集  2011.12 

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  • 差分ステレオを用いた人流計測手法の屋外実環境における実証実験

    生形 徹, モロ アレサンドロ, 有江 誠, 西本 龍弘, 寺林 賢司, 梅田 和昇, 戸辺 義人

    第12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論文集 (SI2011)  2011.12 

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  • テクスチャ付距離画像計測システムの高速化と同期機能の追加

    内田 裕己, 寺林 賢司, 梅田 和昇

    第12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論文集 (SI2011)  2011.12 

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  • 市街地における差分ステレオを用いた人流計測実験

    柴田 雅聡, 有江 誠, 生形 徹, Alessandro MORO, 西本 龍弘, 寺林 賢司, 戸辺 義人, 梅田 和昇

    第9回人間情報学会講演会ポスターセッション  2011.12 

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  • Human Detection Using Multiple Classifiers Based on Subtraction Stereo with HOG Features

    Makoto Arie, Alessandro Moro, Kenji Terabayashi, Kazunori Umeda

    2011 Int. Symp. on Computational Models for Life Sciences (CMLS-11)  2011.10 

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  • An Information Service for Urban Atmosphere Using Smartphone -Experiment Report at Tatebayashi, Gumma Prefecture-

    Tatsuhiro Nishimoto, Tatshunori Ushikubo, Masayuki Tada, Kazumasa Oshima, Hiroki Saito, Hiroto Aida, Kei Sawai, Tsuyoshi Suzuki, Kenji Terabayashi, Takeshi Iwamoto, Masayuki Iwai, Kazunori Umeda, Yoshito Tobe

    2011 Int. Symp. on Computational Models for Life Sciences (CMLS-11)  2011.10 

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  • 差分ステレオを用いた人物セグメンテーションの検討

    寺林賢司, 生形徹, 梅田和昇

    平成23年電気学会電子・情報・システム部門大会予稿集  2011.9 

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  • マルチスリット光を用いた超小型距離画像センサの構築

    岩崎一也, 寺林賢司, 梅田和昇

    第29回日本ロボット日本ロボット学会学術講演会予稿集  2011.9 

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  • 差分ステレオを用いたEOH特徴量による車両検出

    有江誠, 鈴木一尉, 生形徹, モロアレッサンドロ, 寺林賢司, 梅田和昇

    2011年度精密工学会秋季大会学術講演会講演論文集  2011.9 

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  • 小さな手振り検出を用いた家電操作システムの構築

    浅野秀胤, 織茂達也, 永易武, 寺林賢司, 太田睦, 梅田和昇

    映像情報メディア学会年次大会講演予稿集  2011.8 

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  • 距離画像センサを用いた3 次元指差し方向認識

    武田泰幸, 浅野秀胤, 寺林賢司, 梅田和昇

    精密工学会画像応用技術専門委員会サマーセミナー2011  2011.8 

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  • 柔軟な誤対応除去と距離濃淡画像を用いた高精度な2D/3D レジストレーション手法

    猪股亮, 寺林賢司, 梅田和昇, ギー ゴダン

    画像の認識・理解シンポジウム (MIRU2011)  2011.7 

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  • 差分ステレオを用いた人流計測

    星川 佑磨, 生形 徹, 有江 誠, モロ アレサンドロ, 寺林 賢司, 梅田 和昇

    第17回 画像センシングシンポジウム(SSII2011)  2011.6 

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  • HOG特徴量と差分ステレオによる複数識別器を用いた人物検出

    有江 誠, 星川佑磨, 生形 徹, 寺林賢司, 梅田和昇, モロ アレッサンドロ

    第7回人間情報学会講演会ポスターセッション  2011.6 

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  • テクスチャ付距離画像計測システムを用いた実環境の3Dマッピングの高速化

    内田裕己, 寺林賢司, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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  • 手振り動作を用いた個人識別

    高橋真人, 寺林賢司, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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  • テンプレートマッチングを用いた口唇動作認識

    滝田清, 永易武, 浅野秀胤, 寺林賢司, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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  • 魚眼カメラを用いたEPI 解析による3 次元環境復元

    森田徹, 寺林賢司, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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  • インテリジェントルームから距離画像センシングまで~中央大学知的計測システム研究室の研究紹介~ Invited

    上海理工大学招待講演  2011.5 

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  • DPマッチングを用いた口唇動作認識における特徴量の検討

    滝田 清, 永易 武, 浅野 秀胤, 寺林 賢司, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2011講演論文集  2011.3 

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  • 新型インテリジェントルームの構築

    永易 武, 浅野 秀胤, 高橋 真人, 寺林 賢司, 梅田 和昇

    動的画像処理実利用化ワークショップDIA2011講演論文集  2011.3 

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  • マルチスリット光を用いた小型距離画像センサによるヒューマノイドの障害物回避

    黒木 崇博, 寺林 賢司, 梅田 和昇

    第16回ロボティクスシンポジア予稿集  2011.3 

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  • CUDAを用いたアクティブ・パッシブ統合距離画像計測の高速化

    鈴木 裕史, 斉藤 邦広, 寺林 賢司, 梅田 和昇

    2011年度精密工学会春季大会学術講演会講演論文集  2011.3 

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  • フーリエ変換を用いた小さな手振りの検出

    浅野 秀胤, 織茂 達也, 高橋 真人, 寺林 賢司, 太田 睦, 梅田 和昇

    ビジョン技術の実利用ワークショップ(ViEW2010)  2010.12 

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  • From intelligent room to range imaging: introduction of Intelligent Sensing System Lab. in Chuo Univ. Invited

    Kazunori Umeda

    CogInfoCom2010 1st International Workshop on Cognitive InfoCommunication  2010.11 

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  • GPUを用いたノンパラメトリック背景更新

    寺林賢司, モロアレッサンドロ, 梅田和昇

    平成22年電気学会電子・情報・システム部門大会予稿集  2010.9 

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  • マルチスリット光を用いた小型距離画像センサの計測精度評価およびヒューマノイドへの応用

    黒木崇博, 寺林賢司, 梅田和昇

    第28回日本ロボット学会学術講演会予稿集  2010.9 

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  • GPUを用いたアクティブ・パッシブ統合距離画像計測の高速化

    鈴木裕史, 寺林賢司, 梅田和昇

    第28回日本ロボット学会学術講演会予稿集  2010.9 

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  • 差分ステレオを用いた実環境下における人流計測

    星川佑磨, 有江 誠, 生形 徹, モロ アレッサンドロ, 寺林賢司, 梅田和昇, 加々本貴志, 戸辺義人

    第28回日本ロボット学会学術講演会予稿集  2010.9 

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  • HOG特徴量と差分ステレオによる複数識別器を用いた人物検出

    有江 誠, モロ アレッサンドロ, 星川佑磨, 生形 徹, 寺林賢司, 梅田和昇

    2010年度精密工学会秋季大会学術講演会講演論文集  2010.9 

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  • 差分ステレオを用いた複数人物のセグメンテーション

    生形 徹, モロ アレッサンドロ, 星川 佑磨, 有江 誠, 寺林 賢司, 梅田 和昇

    第4回人間情報学会講演会ポスターセッション  2010.9 

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  • 差分ステレオを用いた歩行者計測 Invited

    梅田和昇

    SICE ネットワークセンシングシステム部会講演会  2010.9 

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  • インテリジェントルームにおける指差し方向認識率の向上

    永易 武, 高橋 真人, 寺林 賢司, 梅田 和昇

    精密工学会画像応用技術専門委員会サマーセミナー2010  2010.8 

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  • SIFT と距離濃淡画像を用いた幾何モデルとカラー画像のレジストレーション

    猪股 亮, 寺林 賢司, 梅田 和昇, ギー ゴダン

    画像の認識・理解シンポジウム (MIRU2010)  2010.7 

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  • 生産自動化のための画像処理技術の現状 Invited

    梅田和昇

    精密工学会生産自動化専門委員会研究例会  2010.7 

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  • 球体を用いた魚眼カメラの内部パラメータ校正

    奥津 良太, 寺林 賢司, 梅田 和昇

    第16回 画像センシングシンポジウム(SSII2010)  2010.6 

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  • MRIを用いた生体機能研究のための6軸力センサ

    徳野貴士, 多田充徳, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2010講演論文集  2010.6 

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  • 口領域の形状特徴と低解像度画像を特徴量とした口唇動作認識

    高橋真人, 高山良裕, 永易 武, 寺林賢司, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2010講演論文集  2010.6 

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  • マルチスリット光を用いた小型距離画像センサの開発と障害物検出への応用

    黒木崇博, 増田覚, 寺林賢司, 梅田和昇

    日本機械学会ロボティクス・メカトロニクス講演会2010講演論文集  2010.6 

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