黒田 洋司

J-GLOBALへ         更新日: 18/11/22 03:23
 
アバター
研究者氏名
黒田 洋司
URL
http://www.isc.meiji.ac.jp/~amslab/
所属
明治大学
部署
理工学部
職名
専任教授
学位
博士(工学)(東京大学大学院), 修士(横浜国立大学大学院), 学士(横浜国立大学)

研究分野

 
 

学歴

 
1991年4月
 - 
1994年3月
東京大学大学院 工学系研究科 船舶海洋工学
 
1989年4月
 - 
1991年3月
横浜国立大学大学院 工学研究科 船舶海洋工学
 
1985年4月
 - 
1989年3月
横浜国立大学 工学部 船舶海洋工学
 

委員歴

 
2012年4月
 - 
現在
ロボット大賞審査委員会
 
2010年4月
 - 
現在
かわさき・神奈川ロボットビジネス協議会  理事
 

受賞

 
2012年4月
教育貢献賞,明治大学理工学部
 
2011年12月
ROBOMEC賞,日本機械学会ロボティクス・メカトロニクス部門
 
2010年12月
感謝状〜小惑星探査機はやぶさへの貢献,宇宙開発担当大臣
 
2010年12月
感謝状〜小惑星探査機はやぶさへの貢献,文部科学大臣
 
2010年3月
優秀論文賞,第15回ロボティクスシンポジア
 

論文

 
自己生成型ニューラルネットコントローラシステムの開発と潜水機の運動制御への適用
日本造船学会日本造船学会論文集   168号 277-283   1990年   [査読有り]
電気粘性流体を用いた可変減衰器に関する研究
日本機械学会日本機械学会論文集C編   56-524 78-84   1990年   [査読有り]
Visual Feedback Navigation for Cable Tracking by Autonomous Underwater Vehicles
高井基行, B.A.A.P Balasuriya, 林 雲聡,浦 環,黒田 洋司
日本造船学会論文集   181    1997年4月
Proposition of Microrover System for Lunar Exploration
Y.KURODA, Y.KUNII, T.KUBOTA
Journal of Robotics and Mechatronics   12(2) 91-95   2000年
Command Data Compensation for Real-time Tele-driving System on Lunar Rover: Micro-5
Yasuharu Kunii, Masaya Suhara, Yoji Kuroda
Proc. of IEEE International Conference on Robotics and Automation   1394-1399   2001年
Design and Development of Autonomous Solar-Powered Surface Vehicle for Lake Environmental Survey
Yoji KURODA, Masakazu KOMATSU, Mitio KUMAGAI, and Tamaki URA
Journal of Japan Society for Design Engineering   36(7) 317-322   2001年
Path Planning for Newly Developed Microrover
Takashi Kubota, Yoji Kuroda, Yasuharu Kunii, Tetsuo Yoshimitsu
Proc. of IEEE International Conference on Robotics and Automation   3710-3715   2001年
A new autonomous underwater vehicle designed for lake environment monitoring
M.KUMAGAI, T.URA, Y.KURODA, R.WALKER
Journal of Advanced Robotics   6(1) 17-26   2002年4月
Tele-Operating System for Continuous Operation of Lunar Rover
Yoji KURODA, Masahide KAWANISHI, and Mitsuaki MATSUKUMA
Proc. of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03)      2003年
Accurate Localization in Combination with Planet Observation and Dead Reckoning for Lunar Rover
Kuroda,Y, Kurosawa,T, Tsuchiya,A, Kubota,T
Proc. of 2004 IEEE International Conference on Robotics and Automation (ICRA'04)      2004年4月
Mobility Performance Evaluation of Planetary Rover with Similarity Model Experiment
Y.Kuroda, T.Teshima, Y.Sato, T.Kubota
Proc. of IEEE International Conference on Robotics and Automation (ICRA'04)      2004年4月
Potential Field Navigation of High Speed Unmanned Ground Vehicles on Uneven Terrain
Shimoda, S., Kuroda, Y., and Iagnemma, K.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005)   2839-2844   2005年4月
Mobility Performance Evaluation of Planetary Rovers in Consideration of Different Gravitatinoal Acceleration
Y.Kuroda, T.Teshima, Y.Sato, T.Kubota
Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05)      2005年10月
Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain
Matthew Spenko, Yoji Kuroda, Steven Dubowsky, Karl Iagnemma
Journal of Field Robotics   23(5) 311-331   2006年5月
High-speed Navigation of Unmanned Ground Vehicles on Uneven Terrain using Potential Fields
S. Shimoda, Y. Kuroda, K. Iagnemma
Robotica   409-424   2007年1月
Control for Diverse Biped Motion with Modulated Sinusoidal Waves
Teppei Saitoh and Yoji Kuroda
Proc. of the 9th International Conference on Motion and Vibration Control      2008年
Passive Walking Based Gait Generation for Humanoid Robot
Teppei Saitoh, Yoji Kuroda
Proc. of the 39th International Symposium on Robotics (ISR2008)   718-723   2008年
Effective Strategy for Autonomous Navigation without Prior Knowledge in FastSLAM
Teppei Saitoh, Motohiro Sanpei and Yoji Kuroda
Proceedings of IEEE SSCI 2009   30-37   2009年4月
Simultaneous Adaptive Path Planning System for the Real World Application
Yoji Kuroda,Teppei Saitoh
Proceedings of IEEE SSCI 2009   46-53   2009年4月
An Efficient Solution to 6DOF Localization Using Unscented Kalman Filter for Planetary Rovers
Atsushi Sakai, Yuya Tamura, Yoji Kuroda
Proc. of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)   4154-4159   2009年10月
Awarded NSF Grant: GRASSROOTS
Visual Odometry with Effective Feature Sampling for Untextured Outdoor Environment
Yuya Tamura, Masataka Suzuki, Akira Ishii, Yoji Kuroda
Proc. of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)   3492-3497   2009年10月
Awarded NSF Grant: GRASSROOTS
Vision Based Far-range Map Building using Probability Estimation of Terrain Classification
Masataka Suzuki, Eisuke Terada, Teppei Saitoh and Yoji Kuroda
Proc. of Sixteenth Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV2010)   153-158   2010年2月
Visual Odometry using Ground Plane in Dynamic Untextured Environment
Yuya Tamura, Atsushi Sakai, Yoji Kuroda
Proc. of Sixteenth Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV2010)   159-164   2010年2月
Robust Landmark Estimation and Unscented Particle Sampling for SLAM in Dynamic Outdoor Environment
Atsushi Sakai, Teppei Saitoh, Yoji Kuroda
Journal of Robotics and Mechatronics   22(2) 140-149   2010年4月
Discriminatively Trained Unscented Kalman Filter for Mobile Robot Localization
Atsushi Sakai, Yoji Kuroda
Journal of Advanced Research in Mechanical Engineering   1(3) 153-161   2010年6月
Online Road Surface Analysis using Laser Remission in Structured Outdoor Environments
Teppei Saitoh, Yoji Kuroda
Proc. of the 41th International Symposium on Robotics (ISR2010)   668-675   2010年6月
Six-Degree-of-Freedom Localization Using Unscented Kalman Filter for Planetary Rovers
Yoji Kuroda, Atsushi Sakai, Yuya Tamura
Advanced Robotics   24(8-9) 1199-1218   2010年6月
Vision Based Far-Range Perception and Traversability Analysis using Predictive Probability of Terrain Classification
Masataka Suzuki, Eisuke Terada, Teppei Saitoh, Yoji Kuroda
Proc. of the 41th International Symposium on Robotics (ISR2010)   50-55   2010年6月
Vision Based Probabilistic Map Estimation with Inclined Surface Grid for Rough Terrain Rover Navigation
Teppei Saitoh, Masataka Suzuki, Yoji Kuroda
Advanced Robotics   24(3) 421-440   2010年6月
Visual Odometry Using Feature Point and Ground Plane for Urban Environments
Atsushi Sakai, Yuya Tamura, Yoji Kuroda
Proc. of the 41th International Symposium on Robotics (ISR2010)   654-661   2010年6月
Discriminative Parameter Training of Unscented Kalman Filter
Atsushi Sakai, Yoji Kuroda
Proc. of The 5th IFAC Symposium on Mechatronic Systems (IFAC2010)   677-682   2010年9月
Integrated Visual Odometry System with Three Kind of Stereo and Monocular Methods in Untextured Dynamic Environment
Akira Ishii, Atsushi Sakai, Masahito Mitsuhashi, Yoji Kuroda
Proc. of The 5th IFAC Symposium on Mechatronic Systems (IFAC2010)   683-688   2010年9月
Near-to-Far Self-Supervised Road Estimation for Complicated Environments
Masataka Suzuki, Teppei Saitoh, Eisuke Terada, Yoji Kuroda
Proc. of The 5th IFAC Symposium on Mechatronic Systems (IFAC2010)   689-694   2010年9月
Correcting Angle of Visual Odometry System by Fusing Monocular and Stereo Methods in Untextured Dynamic Environment
Akira Ishii, Atsushi Sakai, Masahito Mitsuhashi, Yoji Kuroda
Proc. of the 10th Int'l Sym. on Communications and Information Technologies 2010 (ISCIT 2010)   950-955   2010年10月
Noise Model Creation for Visual Odometry with Neural-Fuzzy Model
Atsushi Sakai, Masahito Mitsuhashi, Yoji Kuroda
Proc. of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)   5190-5195   2010年10月
Online Road Segmentation for Urban Complex Environments
Masataka Suzuki, Teppei Saitoh, Eisuke Terada, Yoji Kuroda
Proc. of the 10th Int'l Sym. on Communications and Information Technologies 2010 (ISCIT 2010)   1039-1044   2010年10月
Online Road Surface Analysis using Laser Remission Value in Urban Environments
Teppei Saitoh and Yoji Kuroda
Proc. of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)   15-21   2010年10月
Yuto Fujii, Atsushi Sakai and Yoji Kuroda
Proc. of the 2010 IEEE Int'l Conf. on Robotics and Biomimetics (ROBIO2010)   967-972   2010年12月   [査読有り]
In this paper, we propose a learning method to solve the parameter determination problem of divided difference filter (DDF) for accurate localization. DDF can achieve comparatively accurate localization than other Kalman filter algorithms in poor ...
Mobile Robot Localization using Appearance Based Place Recognition
Masahito Mitsuhashi, Atsushi Sakai, Yoji Kuroda
Proc. of the 2010 IEEE Int'l Conf. on Robotics and Biomimetics (ROBIO2010)   537-542   2010年12月
Self-Supervised Mapping for Road Shape Estimation Using Laser Remission in Urban Environments
Teppei Saitoh, Yoji Kuroda
Journal of Robotis and Mechatronics   22(6) 726-736   2010年12月
Eisuke Terada and Yoji Kuroda
Proc. of 2011 IEEE/ASME Int'l Conf. on Advanced Intelligent Mechatronics (AIM2011)   186-191   2011年7月   [査読有り]
In this paper, we propose a speed control system for autonomous mobile robots using long-range road estimation. In our method, the long-range road is estimated using the images from a camera and the result of near-range road estimation from a lase...
Masahito Mitsuhashi and Yoji Kuroda
Proc. of 2011 IEEE/ASME Int'l Conf. on Advanced Intelligent Mechatronics (AIM2011)   930-935   2011年7月
In this paper, we propose a mobile robot localization system using appearance based place recognition. Our system uses appearance based place recognition and dead reckoning with Gyrodometry model. We use theory of the observation likelihood estima...
Yuya Nagata, Masahito Mitsuhashi and Yoji Kuroda
Proc. of The 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011)   1041-1046   2011年12月
In this paper, we propose an autonomous navigation system in urban environments. In order to create a useful navigation system in urban environments, the system examines whether the area near around is traversable or not in real time, instead of u...
Yuya Nagata, Masahito Mitsuhashi and Yoji Kuroda
Proc. of IEEE/SICE International Symposium on System Integration (SII2011)   597-602   2011年12月   [査読有り]
In this paper, we propose an autonomous navigation system in urban environments. In order to create a useful navigation system in urban environments, the system examines whether the area near around is traversable or not in real time, instead of u...
Yuto Fujii and Yoji Kuroda
Proc. of IEEE International Conference on Robotics and Biomimetics (ROBIO2011)   1035-1040   2011年12月   [査読有り]
In this paper, we propose an online motion model parameter estimation method. To achieve accurate localization, accurate estimation of motion model parameters is needed. However, the true values of motion model parameters change sequentially accor...
Yuto Fuji and Yoji Kuroda
Proc. of IEEE/SICE International Symposium on System Integration (SII2011)   1299-1304   2011年12月   [査読有り]
In this paper, we propose an online motion model parameter estimation method. To achieve accurate localization, accurate estimation of motion model parameters is needed. However, the true values of motion model parameters change sequentially accor...
Yoji Kuroda, Masataka Suzuki, Teppei Saitoh, Eisuke Terada
Journal of Robotics and Mechatronics   24(1) 16-27   2012年2月
長期連続観測が可能な火山観測ローバの開発とフィールド試験
迎田賢太郎,西川佑樹,永田 祐也, 高橋 佑弥, 谷口雅彦,井上直人
日本惑星科学会誌   21(3) 206-214   2012年9月
黒田洋司,永田祐也,西川佑輝,藤井悠人,寺田英介,三橋雅仁
日本ロボット学会誌   30(9) 907-916   2012年11月   [査読有り]
Takato Saito, Yoji Kuroda
Proc. of IEEE/SICE International Symposium on System Integration (SII2012)   43-48   2012年12月
Takato Saito, Yoji Kuroda
Proc. of IEEE International Conference on Robotics and Automation (ICRA2013)   to be published   2013年5月
T. Saito and Y. Kuroda
Proc. of 2013 IEEE/SICE International Symposium on System Integration (SII)   25-30   2013年12月
In this paper, we propose a mobile robot lo- calization by GPS observations and appearance-based place recognition. These are critical issues for achieving a high accu- racy and stable localization due to some challenging problems that GPS observa...
M. Saito, K. Kiuchi, S. Shimizu, T. YOKOTA, Y. Fujino, T. Saito, and Y. Kuroda
Journal of Robotics and Mechatronics   26(2) 185-195   2014年4月   [査読有り]
This paper describes navigation systems for autonomous mobile robots taking part in the real-world Tsukuba Challenge 2013 robot competition. Tsukuba Challenge 2013 enables any information on the route to be collected beforehand and used on the day...
木内健太郎、横田隆之、齊藤隆仁、黒田洋司
計測自動制御学会論文集   51(1) 57-63   2015年4月   [査読有り]
Y. Fujino, K. Kiuchi, S. Shimizu, T. YOKOTA, and Y. Kuroda
Journal of Robotics and Mechatronics   27(4) 401-409   2015年8月   [査読有り]
The method we propose for constructing a large three-dimensional (3D) map uses an autonomous mobile robot whose navigation system enables the map to be constructed. Maps are vital to autonomous navigation, but constructing and updating them while ...
Y. Aotani, T. Ienaga, N. Machinaka, Y. Sadakuni, R. Yamazaki, Y. Hosoda, R. Sawahashi, and Y. Kuroda
Journal of Robotics and Mechatronics   29(4) 639-648   2017年8月   [査読有り]
This paper presents an autonomous navigation system. Our system is based on an accurate 3D map, which includes "geometric information" (e.g., curb, wall, street tree) and "semantic information" (e.g., sidewalk, roadway, crosswalk) extracted by env...
Robust Road-Following Navigation System with a Simple Map
Yuki Hosoda, Ryota Sawahashi, Noriaki Machinaka, Ryota Yamazaki, Yudai Sadakuni, Kazuya Onda, Ryosuke Kusakari, Masahiro Kimba, Tomotaka Oishi, and Yoji Kuroda
Journal of Robotics and Mechatronics   30    2018年   [査読有り]

Misc

 
ニューラルネットによる潜水艇の位置標定
計測自動制御学会SICE '90   251-252   1990年
GPSを有する自律移動型湖面環境計測システム
◎黒田洋司(専任講師)
日本ロボット学会学術講演会論文集   Vol.2 609-610   1997年9月
Vision Based Autonomous Underwater Vehicle Navigation : Underwater Cable Tracking
B.Balasuriya, Y.Kuroda
Proc.IEEE/MTS Oceans '97   Vol.1 1418-1424   1997年10月
動的環境下におけるSLAMのロバストなランドマーク推定法に関する研究
坂井敦 ,斉藤哲平,黒田洋司
明治大学理工学部研究報告   41 27-37   2009年9月
屋外低特徴環境に有効な特徴点サンプリング手法を用いた6自由度ビジュアルオドメトリ
田村侑也,鈴木正隆,石井朗,黒田洋司
明治大学理工学部研究報告   41 39-52   2009年9月
未知環境におけるFast SLAMに基づいた大域的経路計画法
斉藤哲平,黒田洋司
明治大学理工学部研究報告   41 1-8   2009年9月

講演・口頭発表等

 
Autonomous Behavior Control for Lunar and Planetary Rover
1997年2月   
親子型惑星ローバの開発
1997年6月   
Development of a Lightweight Planetary Rover Testbed
1997年7月   
GPSを有する自律移動型湖面環境計測システム
1997年9月   
惑星ローバの遠隔操作システム
1997年9月   

競争的資金等の研究課題

 
知識の構造化によるロボットの知的行動の発現研究開発
NEDO: 
研究期間: 2015年4月 - 現在    代表者: 黒田洋司