Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
Initialising ...
馬場 啓多*; 渡部 有隆*; 中村 啓太*; 松本 拓; 羽成 敏秀; 川端 邦明
Proceedings of 29th International Symposium on Artificial Life and Robotics (AROB 2024) (Internet), p.751 - 756, 2024/01
This study proposes a partial-to-partial point cloud registration method based on estimated parameters in photogrammetry and QR code. Some research and development on Generating a 3D map of the workspace by photogrammetric methods have been proposed for the decommissioning work at the Fukushima Daiichi Nuclear Power Plant. Photogrammetry is a method for 3D reconstruction of the location and shape of target objects from many images, and the processing time depends on the number of images. Considering the reconstruction of a large area, the number of images increases, and processing time also increases significantly. To reduce such computational time, this study considers applying SfM-MVS (Structure from Motion and Multi-View Stereo), which is one of the photogrammetry methods, to each segmented image group, aligning each obtained result, integrating them, and creating a model of the entire space. This alignment is called partial-to-partial registration and it is difficult to find the correspondence points for registration. Therefore, we place markers such as QR codes in the target reconstruction space to make it easy to find the correspondence points. We adopt the QR code as a 2D code because it is easy to reconstruct by photogrammetry. In this paper, we discuss the validity of this approach by comparing it with the integrated model using all images applying SfM-MVS. We verify the validation of the proposed method by simulation due to the large number of images and the ease of modifying the environment. The experiment about varying the number of image divisions shows that the reconstruction result from all images is more accurate than the integrated result. However, all of these models have high reconstruction accuracy. Moreover, the accuracy of the integrated model does not depend on the number of divisions.
中川 洋; 山本 直樹*
Life (Internet), 13(2), p.318_1 - 318_15, 2023/02
被引用回数：1 パーセンタイル：36.92(Biology)非干渉性中性子散乱とテラヘルツ分光法は、ほぼ同じ測定エネルギー範囲を持っている。両手法はタンパク質や水和水のダイナミクスを研究するために用いられるため、両手法の長所と短所、関連する文献をレビューすることは重要である。我々の知る限り、両手法に関するレビューはなく、このレビューは高い価値を有する。
松本 拓; 羽成 敏秀; 川端 邦明; 八代 大*; 中村 啓太*
Proceedings of 28th International Symposium on Artificial Life and Robotics (AROB 28th 2023) (Internet), p.768 - 773, 2023/01
This paper reports on an automatic process for 3D environmental modeling from acquired image sequences. We have studied methods of 3D environment modeling to understand unknown environments. However, 3D environment modeling using acquired image sequences is a time-consuming task. When 3D environment modeling is performed using image sequences acquired in an unknown environment, the generated models do not always produce the expected result. Therefore, we consider that the quality of the generated 3D environment models could be quickly verified by realizing the sequential presentation of the generated models. To verify the effectiveness of the automatic process, we implemented it under different execution environments. Consequently, the automatic process could generate a 3D environment model from acquired image sequences.
富永 大輝*; 中川 洋; 佐原 雅恵*; 小田 隆*; 井上 倫太郎*; 杉山 正明*
Life (Internet), 12(5), p.675_1 - 675_9, 2022/05
被引用回数：0 パーセンタイル：0.01(Biology)中性子背面散散乱装置測定用のタンパク質水溶液試料に適した試料セルのバックグラウンド散乱を評価した。その結果、D
Oを用いてベーマイトをコーティングしたアルミニウム製サンプルセルの散乱強度は、通常の水(HO)をコーティングしたサンプルセルの散乱強度よりも低いことが判明した。また、個体重量の差が小さいセルへの細心の注意と、分光器の中性子ビーム位置に対するサンプルセルの位置再現性により、DO緩衝液とサンプル容器の散乱プロファイルを正確に差し引くことができた。その結果、希薄なタンパク質溶液からタンパク質のダイナミクスに関する高品質な情報を抽出することができた。
中村 啓太; 羽成 敏秀; 川端 邦明
Proceedings of 27th International Symposium on Artificial Life and Robotics (AROB 27th 2022) (Internet), p.771 - 775, 2022/01
画像からの三次元復元において、画像枚数が少なくても、各画像が三次元復元の対象物の特徴を捉えていれば、短時間で高精度な三次元復元を実現できることが知られている。そこで、三次元復元に有効な画像を選択するために、シミュレーションによる仮想環境の構築と撮影条件の変更により、画像選択のためのテストデータを生成することが考えられる。本研究では、直線レール上をカメラが移動して画像を撮影する場合に着目し、この場合における、三次元復元にかかる計算時間短縮を考慮した有効な画像選択条件をシミュレーションにより調査・検証する。
田場 凌*; 武村 史朗*; Tansuriyavong, S.*; 川端 邦明; 相良 慎一*; 小笠原 敬*
Proceedings of 21st International Symposium on Artificial Life and Robotics (AROB 21st 2016) and 1st International Symposium on BioComplexity (ISBC-1) (Internet), p.395 - 399, 2016/01
In this paper, we describe about the development of real time distance measurement system for underwater robot. This system has two laser modules and a monocular camera. Two laser modules set on the monocular camera and two points always see in the camera image. If the distance of camera and the measurement object is near, the distance of two laser points is long. If the distance of camera and measurement object is far, the distance of two laser points is short. By using this relation, the distance of the robot and the measurement object can measure. In addition, this system uses particle filter to be not affected by light. We verify this method by the several experimental results.
