Proceedings of the 6th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2017, Porto, Portugal, February 24-26, 2017. 676-683 2017 [Refereed]
Spectral and Shape Analysis in Medical Imaging - First International Workshop, SeSAMI 2016, Held in Conjunction with MICCAI 2016, Athens, Greece, October 21, 2016, Revised Selected Papers 10126 LNCS 39-50 2016 [Refereed]
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016 2016-November 4545-4550 2016 [Refereed]
IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2015, Busan, South Korea, July 7-11, 2015 2015-August 1766-1771 2015 [Refereed]
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015 2015-December 2311-2316 2015 [Refereed]
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015 2015-December 4437-4444 2015 [Refereed]
Image Analysis and Processing - ICIAP 2015 - 18th International Conference, Genoa, Italy, September 7-11, 2015, Proceedings, Part I 9279 141-149 2015 [Refereed]
Kobayashi K, Morooka K, Miyagi Y, Fukuda T, Tsuji T, Kurazume R, Samura K
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference 2014 5558-5561 2014 [Refereed]
Morooka K, Nakasuka Y, Kurazume R, Chen X, Hasegawa T, Hashizume M
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference 2013 2996-2999 2013 [Refereed]
Natural and Artificial Models in Computation and Biology - 5th International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2013, Mallorca, Spain, June 10-14, 2013. Proceedings, Part I 7930 LNCS(PART 1) 103-112 2013 [Refereed]
Natural and Artificial Models in Computation and Biology - 5th International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2013, Mallorca, Spain, June 10-14, 2013. Proceedings, Part I 7930 LNCS(PART 1) 113-120 2013 [Refereed]
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012 4797-4803 2012 [Refereed]
Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, California, United States, 4-9 February 2012 8316 83160J 2012 [Refereed]
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012 4620-4625 2012 [Refereed]
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011 4201-4206 2011 [Refereed]
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011 2020-2027 2011 [Refereed]
This paper proposes a new method for mapping a tissue surface model onto a target surface while preserving geometrical features of the tissue surface. The proposed method is based on Self-organizing Deformable Model (SDM) whose shape is deformed b...
Finite Element Method (FEM) is one of the techniques for deformation simulations of human tissue. The basic concept of FEM is the discretization of an object into FE-model that consists of simple geometry called elements. Although The most common ...
Journal of the Robotics Society of Japan 31(8) 769-779 Oct 2013
This paper describes a method of measuring moving objects and estimating human behaviors in a room using only one laser range finder (LRF) installed in the room and a strip of mirror attached to a side wall close to a floor. The area of sensing is...
This paper proposes a new method for mapping tissue surface model onto arbitrary target surface whilepreserving the geometrical features of the tissue surface. In our method, firstly, the tissue model is roughly deformed by using Self-organizing d...
UCHINO Koji, IWASHITA Yumi, KURAZUME Ryo, STOICA Adrian
Technical report of IEICE. PRMU 112(441) 233-238 Feb 2013
This paper presents a shadow-based person identification technique robust to appearance change caused by variations of clothes and carrying conditions. The person identification technique using invisible lights and shadows has many advantages as i...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013(0) _1A1-J04_1-_1A1-J04_4 2013
This research aims to realize a service robot for grasping various objects in daily life. Therefore, this paper presents a grasping method based on joint angle control for a multi-fingered hand with soft fingertips. This method is robust to the fi...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013(0) _1P1-J02_1-_1P1-J02_4 2013
This paper proposes a novel object recognition technique using a laser scanner. A laser scanner precisely measures three dimensional shape of a target, and object recognition can be conducted by comparing shapes of objects. However, it is difficul...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013(0) _2A1-J08_1-_2A1-J08_4 2013
This paper presents a new categorization method for typical indoor places (e.g., "office", "kitchen", "corridor") using 3D scans by a laser range finder. The proposed technique utilizes panoramic range and reflectance images obtained by a laser ra...
ENDOU Ken, IKENOYA Takafumi, KOGA Yuichiro, KURAZUME Ryo
Journal of the Robotics Society of Japan 30(1) 84-90 Jan 2012
A 3D measurement system of a tunnel shape is being developed. This system is composed of a mobile robot equipped with a 2D laser scanner and a three-axis fiber optic gyro, integrated software, and a total station placed in the tunnel. Measured dat...
Technical report of IEICE. PRMU 110(467) 259-263 Mar 2011
This paper presents a novel method for gait-based person identification robust to changes in appearance. Gait is sensitive to appearance changes, such as variations of clothes and carrying conditions, so the correct classification rate is reduced ...
Journal of the Robotics Society of Japan 30(2) 180-187 Mar 2012
This paper presents a high precision 3D measurement system by multiple mobile robots. This system is composed of three mobile robots consisting of a parent robot and two child robots. The parent robot is equipped with a 3D laser scanner, attitude ...
Journal of the Robotics Society of Japan 29(1) 67-76 Jan 2011
Frequent patterns in time series data are useful clues to learn previously unknown events in an unsupervised way. In this paper, we propose a method for detecting frequent patterns in long time series data efficiently. The major contribution of th...
BABA Ryosuke, IWASHITA Yumi, OGAWARA Koichi, KURAZUME Ryo
IEICE technical report. Speech 111(431) 59-64 Feb 2012
In person identification using gait images, various inherent image features of individuals are extracted from a sequence of gait images. However, for instance, if a subject's observation angle changes compared with those in the database, the corre...
ENDOU Ken, KURAZUME Ryo, KOGA Yuichiro, IKENOYA Takafumi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011(0) _1A1-B10_1-_1A1-B10_2 2011
An experiment for 3D measurement was tried in a road-tunnel under construction by "three-dimensional measurement mobile unit" that was produced experimentally, this time. This system has two modes for measurement. One is the measurement mode when ...
IWASHITA Yumi, BABA Ryosuke, OGAWARA Koichi, KURAZUME Ryo
IEICE technical report. Speech 111(431) 65-70 Feb 2012
In person identification using gait images, various inherent image features of individuals are extracted from a sequence of gait images taken by a camera. However, for instance, if the subject is close to the camera and the camera captures gait im...
The IEICE transactions on information and systems (Japanese edetion) 93(6) 1024-1035 Jun 2010
人間の生活環境内でロボットが自律的に働くには,建造物の壁や通路などの構造情報を記した三次元環境地図が必要である.我々は,群ロボットを用いた三次元未知環境地図作成を自動化するための動作計画手法を提案する.群ロボットは,LRF(Laser Range Finder)を搭載した親ロボットとその位置測定のためのランドマークとして用いる2台の子ロボットからなる.親ロボットと子ロボットは移動と停止を交互に行い,自己位置を測定しながら環境内を巡回する.親ロボットは各停止地点で,周囲物体までの距離計測を行...
IWASHITA Yumi, UCHINO Koji, KURAZUME Ryo, STOICA Adrian
IEICE technical report. Speech 111(431) 71-75 Feb 2012
This paper introduces a novel system for person identification from shadow images of walking person projected by invisible lights, and a shadow database of walking people. In general the correct classification rate of person identification is bett...
Technical report of IEICE. HIP 109(471) 79-84 Mar 2010
Gait is one of biometrics which offer the possibility to identify people at a distance, without any inter action or cooperation from the subject, compared with other kind of biometrics, such as fingerprints and iris. To identify people by gait, ga...
Technical report of IEICE. PRMU 109(470) 79-84 Mar 2010
Gait is one of biometrics which offer the possibility to identify people at a distance, without any interaction or co-operation from the subject, compared with other kind of biometrics, such as fingerprints and iris. To identify people by gait, ga...
BABA Ryosuke, IWASHITA Yumi, OGAWARA Koichi, KURAZUME Ryo
Technical report of IEICE. PRMU 111(430) 59-64 Feb 2012
In person identification using gait images, various inherent image features of individuals are extracted from a sequence of gait images. However, for instance, if a subject's observation angle changes compared with those in the database, the corre...
IWASHITA Yumi, BABA Ryosuke, OGAWARA Koichi, KURAZUME Ryo
Technical report of IEICE. PRMU 111(430) 65-70 Feb 2012
In person identification using gait images, various inherent image features of individuals are extracted from a sequence of gait images taken by a camera. However, for instance, if the subject is close to the camera and the camera captures gait im...
Journal of the Robotics Society of Japan 28(1) 65-76 Jan 2010
We are conducting the research project named Robot Town Project. The aim of this research is to develop a distributed sensor system such as cameras, laser range finders, and IC tags, and its management system so that autonomous robots can work wit...
IWASHITA Yumi, UCHINO Koji, KURAZUME Ryo, STOICA Adrian
Technical report of IEICE. PRMU 111(430) 71-75 Feb 2012
This paper introduces a novel system for person identification from shadow images of walking person projected by invisible lights, and a shadow database of walking people. In general the correct classification rate of person identification is bett...
Koji Matsuo, koichi Ogawara, Ryo Kurazume, Tsutomu Hasegawa
IPSJ SIG Notes. CVIM 2010(46) 1-6 Jan 2010
This paper considers the problem of articulated structure from motion where the target object is made of articulated rigid bodies and all the feature points are not always observed simultaneously. We deal with this problem by subspace separation m...
IEEJ Transactions on Electronics, Information and Systems 132(2) 291-298 Feb 2012
This paper proposes a new smoothing technique for range images taken by a pulsed Time-of-Flight range finder. A Time-of-Flight range finder gives a range value from the sensor to the target by measuring the time until the emitted light is reflecte...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0) _1A1-A28_1-_1A1-A28_2 2010
We have developed the technology to get structure's 3D shape quickly by 3-Dimensional Measurement Mobile, using a gyroscopic 2D scanner. 2D scanner can change the attitude flexible and is loaded on a cart followed by Total Station. The coordinate ...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0) "2A1-A24(1)"-"2A1-A24(4)" 2010
This paper introduces a person-adaptive model for markerless motion capture system. Various model-based motion capture systems, which estimate human motion by comparing the 3D human model with either a reconstructed 3D human shape or captured imag...
Journal of the Robotics Society of Japan 30(1) 72-83 Jan 2012
This paper proposes a novel control method for stable grasping and attitude regulation of an object using a multi-fingered hand-arm system. This method is based on a task space sensory-feedback control using real time information of an object atti...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0) "1A1-C17(1)"-"1A1-C17(4)" 2010
This paper describes a tactile sensing to estimate the position and orientation of a joint-axis of a linked object. This tactile sensing is useful when a multi-jointed multi-fingered robotic hand uses a tool with a joint. This estimation requires ...
Technical report of IEICE. CQ 111(378) 91-98 Jan 2012
We have been proposing a high precision laser-based 3D measurement system by multiple mobile robots. This system is composed of three mobile robots consisting of a parent robot and two child robots. The parent robot is equipped with a 3D laser sca...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0) "1A1-E08(1)"-"1A1-E08(3)" 2010
This paper proposes a global positioning method for a mobile robot which utilizes panoramic reflectance images and Bag-of-features technique. The reflectance image is acquired by a laser ranger finder (LRF) as a side product of distance informatio...
Technical report of IEICE. CQ 111(378) 99-106 Jan 2012
An important capability for service robots working with humans in indoor environments is their ability to categorize the different places where they are located. In this paper we present an approach to categorize different areas in indoor environm...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0) "2A1-C09(1)"-"2A1-C09(4)" 2010
We propose a commodity tracking system which is composed of an intelligent cabinet, a human/commodity tracking system, and Town Management System. Being equipped with a tag reader of RFID and a planar pressure sensor, the intelligent cabinet measu...
Technical report of IEICE. Multimedia and virtual environment 111(380) 151-158 Jan 2012
We have been proposing a high precision laser-based 3D measurement system by multiple mobile robots. This system is composed of three mobile robots consisting of a parent robot and two child robots. The parent robot is equipped with a 3D laser sca...
FURUKAWA Yushiro, KURAZUME Ryo, IWASHITA Yumi, HONG Jaesung, HATA Nobuhiko, HASHIZUME Makoto
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0) "2A2-G21(1)"-"2A2-G21(3)" 2010
This paper introduces the new 3D superposed display system of endoscopic ultrasound images for endoscopic augmented surgery. This system consists of an ultrasonic endoscope and electro-magnetic measurement sensor. The superimposed system of endosc...
Technical report of IEICE. Multimedia and virtual environment 111(380) 159-166 Jan 2012
An important capability for service robots working with humans in indoor environments is their ability to categorize the different places where they are located. In this paper we present an approach to categorize different areas in indoor environm...
Technical report of IEICE. PRMU 111(379) 151-158 Jan 2012
We have been proposing a high precision laser-based 3D measurement system by multiple mobile robots. This system is composed of three mobile robots consisting of a parent robot and two child robots. The parent robot is equipped with a 3D laser sca...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009(0) "1A1-A17(1)"-"1A1-A17(4)" May 2009
This paper proposes a segmentation method of human manipulation task based on measurement of contact force imposed by a human hand on a grasped object. We define an index measure for segmenting human manipulation task into primitives. The index is...
Technical report of IEICE. PRMU 111(379) 159-166 Jan 2012
An important capability for service robots working with humans in indoor environments is their ability to categorize the different places where they are located. In this paper we present an approach to categorize different areas in indoor environm...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009(0) "1A1-E06(1)"-"1A1-E06(4)" May 2009
For constructing a geometric and photometric model of a large-scale cultural heritage using a laser range finder and a digital camera, a number of measurements must be performed at various viewpoints. However, in general, obtained range images mus...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012(0) _1A2-A09_1-_1A2-A09_4 2012
A Laser scanner obtains a range value from the sensor toward the target by measuring the round-trip time of a laser pulse. At the same time, the reflectivity, which is the strength of the reflected light, can be acquired as a by-product of range i...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009(0) "1A1-E13(1)"-"1A1-E13(4)" May 2009
This paper proposes an automated 3D map generation method of an unknown environment by using mobile robots equipped with. LRF. A 3D map is necessary for intelligent robots to plan a path of the robots. If the 3D map generation is automated, inform...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012(0) _1P1-H02_1-_1P1-H02_4 2012
In this paper, experimental results of the visual servoing method proposed by us are shown to verify the robustness against temporary loss of visual information. The visual servoing method proposed in our previous work achieves stable grasping and...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009(0) "2A2-A16(1)"-"2A2-A16(4)" May 2009
This paper proposes a novel control method for stable grasping using a multi-fingered hand-arm system. The proposed method is simple and easily achieves stable grasping of an arbitrary polyhedral object using an arbitrary number of fingers. Firstl...
IEEJ Transactions on Electronics, Information and Systems 129(5) 977-984 May 2009
Tracking of a moving robot in surveillance video is an important task for coexistence of human beings with robots. An essential technology to manage coexistence environment of human beings and moving robots is separation and tracking of moving rob...
Technical report of IEICE. PRMU 108(363) 61-66 Dec 2008
A gesture recognition method for multi-camera surveillance is proposed. The proposed method possesses the following three characteristics desirable for practical surveillans. First, the final recognition result is provided by integrating recogniti...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011(0) _1A1-J03_1-_1A1-J03_4 2011
This paper presents an experimental verification of the externally sensorless dynamic object manipulation which has been proposed by us. This method enables robot to achieve stable object grasping and manipulation in dynamical sense without any ex...
Technical report of IEICE. PRMU 108(363) 1-6 Dec 2008
Tracking of a moving robot in surveillance video is an important task for coexistence of human beings with robots. An essential technology to manage coexistence environment of human beings and moving robots is separation and tracking of moving rob...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011(0) _2A1-L06_1-_2A1-L06_4 2011
Time-of-Flight range finder gives a range value from the sensor to the target by measuring the time until the emitted laser pulse is reflected on the target's surface and returned to the sensor. The power of the reflected light is also measured as...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0) "1P1-H17(1)"-"1P1-H17(4)" Jun 2008
The present paper describes a decision method for the placement of tactile elements for grasp recognition. Based on the mutual information of the grasps and tactile information, an effective placement of tactile elements on a sensing glove is dete...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0) "2A1-C01(1)"-"2A1-C01(3)" Jun 2008
Laparoscopic surgery has the advantages that reducing patient' damages and risks of infection, and early rising. However, doctor is required special techniques in operation because of restricting significant information by endoscope or forceps. A ...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0) "2A1-C04(1)"-"2A1-C04(4)" Jun 2008
We have been developing an automatic endotracheal intubation system using a high performance stylet. This system is composed of an endotracheal stylet and a camera attached at the point of the stylet. One of fundamental functions of the automatic ...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0) "2P1-H10(1)"-"2P1-H10(4)" Jun 2008
We are conducting the research project named "Robot Town Project". The aim of this research is to develop a distributed sensor system and its management system so that robots can work with humans in an ordinary environment for daily human life. Ho...
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008(0) "2P2-B22(1)"-"2P2-B22(4)" Jun 2008
This paper proposes a 3D shape reconstruction method using a moving camera and a spherical mirror based on the Perspective Factorization Method. Factorization method is quite useful for 3D reconstruction from image sequences. However there is a st...
Journal of the Robotics Society of Japan 26(2) 192-199 Mar 2008
To structure environment in informative way through the sensor network with distributed RFID tags is a promissing approach to an autonomous intelligent robot working in an ordinary environment for daily human life. This paper proposes methods to i...
We have developed a five senses sensor network for RT rescue system used in hazardous environment after an earthquake or explosion. The five senses sensor network consists of several sensor pods/robots equipped with a network camera, a laser range...
