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中村 啓太*; 馬場 啓多*; 渡部 有隆*; 羽成 敏秀; 松本 拓*; 今渕 貴志; 川端 邦明
Artificial Life and Robotics, 29(4), p.546 - 556, 2024/09
This paper describes a method for integrating multiple dense point clouds using a shared landmark to generate a single real-scale integrated result for photogrammetry. It is difficult to integrate high-density point clouds reconstructed by photogrammetry because the scale differs with each photogrammetry. To solve this problem, this study places a QR code of known sizes, which is a shared landmark, in the reconstruction target environment and divides the reconstruction target environment based on the position of the QR code that is placed. Then, photogrammetry is performed for each divided environment to obtain each high-density point cloud. Finally, we propose a method of scaling each high-density point cloud based on the size of the QR code and aligning each high-density point cloud as a single high-point cloud by partial-to-partial registration. To verify the effectiveness of the method, this paper compares the results obtained by applying all images to photogrammetry with those obtained by the proposed method in terms of accuracy and computation time. In this verification, ideal images generated by simulation and images obtained in real environments are applied to photogrammetry. We clarify the relationship between the number of divided environments, the accuracy of the reconstruction result, and the computation time required for the reconstruction.
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 29th 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.
O近藤 洋介*; Achouri, N. L.*; Al Falou, H.*; Atar, L.*; Aumann, T.*; 馬場 秀忠*; Boretzky, K.*; Caesar, C.*; Calvet, D.*; Chae, H.*; et al.
Nature, 620(7976), p.965 - 970, 2023/08
被引用回数：41 パーセンタイル：94.75(Multidisciplinary Sciences)非常に中性子が過剰な原子核Oは、陽子、中性子ともに魔法数であることから古くからその性質に興味が持たれていたが、酸素の最後の束縛核
Oよりも中性子が4個も多いため、これまで観測されてこなかった。この論文では、理化学研究所RIBFにて
Fからの1陽子ノックアウト反応によってOを生成し、そこから放出される中性子を測定することによって初めてその観測に成功した。核構造の観点からは、Oでは二重閉殻が保たれているか興味が持たれていたが、実験で得られた分光学的因子が殻模型計算で予言されて程度の大きいことから、閉殻構造をもたない可能性が高いことがわかった。
Ne at the transition into the island of inversion; Detailed structure study of NeWang, H.*; 安田 昌弘*; 近藤 洋介*; 中村 隆司*; Tostevin, J. A.*; 緒方 一介*; 大塚 孝治*; Poves, A.*; 清水 則孝*; 吉田 数貴; et al.
Physics Letters B, 843, p.138038_1 - 138038_9, 2023/08
被引用回数：6 パーセンタイル：67.70(Astronomy & Astrophysics)Neからの1中性子除去反応を用いて、Neの詳細な
線分光を行った。平行運動量分布の解析に基づき、Neの準位構造とスピンパリティを決定し、初めて負のパリティ状態を同定した。測定された断面積と運動量分布から、N=20とN=28のシェルギャップの消失の証拠となる有意なintruder p-wave強度が明らかになった。束縛状態については、弱いf-waveの可能性のある強度が観測された。いくつかの有効相互作用を用いた大規模殻模型計算では、実験的に観測された大きなp-wave強度と小さなf-wave強度は再現されず、Ne同位体に沿った反転の島への遷移の完全な理論的記述への挑戦が続いていることを示している。
中村 啓太; 羽成 敏秀; 川端 邦明; 馬場 啓多*
Artificial Life and Robotics, 28(2), p.352 - 360, 2023/02
In photogrammetry, when each image captures the features of the target object for 3D reconstruction, a more highly accurate 3D reconstruction can be obtained in a shorter time from a small number of images. For this reason, effective images for 3D reconstruction must be selected. We generate test images by constructing a virtual environment and changing the shooting conditions based on the simulation for this image selection. In particular, we focus on linear trajectory shooting, in which the camera moves on a straight rail and obtains images. We verify the 3D reconstruction considering the calculation time reduction based on effective image selection. The experimental result shows that the camera pose estimation can be improved by using images obtained at multiple shooting angles in the case of linear trajectory shooting. The additional experimental result reveals that the calculation time for the reconstruction result is reduced by applying the images selected at regular intervals.
中村 啓太; 馬場 啓多*; 羽成 敏秀; 川端 邦明
Proceedings of 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2022), p.1497 - 1498, 2022/07
Although the three-dimensional (3D) reconstruction result obtained by structure from motion and multi-view stereo from an image can visually confirm whether 3D reconstruction is achieved, it is not possible to scale the obtained 3D reconstruction result. Therefore, we verify whether the 3D reconstruction can be scaled based on the size of the two-dimensional (2D) code by simultaneously performing a 3D reconstruction of its target and its code whose size is known. Experimental results show that the scaled 3D reconstruction is highly accurate according to the size of the reconstructed 2D code.
中村 啓太; 馬場 啓多*; 吉川 拓真*; 羽成 敏秀; 川端 邦明; 松本 拓
New Trends in Intelligent Software Methodologies, Tools and Techniques; Frontiers in Artificial Intelligence and Applications, Vol.355, p.427 - 438, 2022/00
It is generally difficult to measure complex shapes such as stairs with high accuracy for indoor environment scanning by the robot. Therefore, we consider the 3D (three-dimensional) reconstruction of stairs using SfM (Structure from Motion) and MVS (Multi-View Stereo) which perform 3D reconstruction from images acquired by the robot vision. In this study, we verify whether it is possible to acquire a 3D reconstruction result of stairs by using images shot while ascending and descending the stairs as input to the reconstruction method. To calculate the accuracy of the reconstruction result, we use 3D computer graphics software to generate artificial image data to be applied to the 3D reconstruction. Experimental results show that 3D reconstruction results of the stairs are more accurate by applying both images shot when ascending and descending stairs to the 3D reconstruction methods.
Wang, H.*; 大津 秀暁*; 千賀 信幸*; 川瀬 頌一郎*; 武内 聡*; 炭竃 聡之*; 小山 俊平*; 櫻井 博儀*; 渡辺 幸信*; 中山 梓介; et al.
Communications Physics (Internet), 2(1), p.78_1 - 78_6, 2019/07
被引用回数：10 パーセンタイル：53.94(Physics, Multidisciplinary)陽子(あるいは中性子)過剰核の効率的な生成経路を探索することは、原子核反応研究の主な動機のひとつである。本研究では、
Pdに対する核子当たり50MeVの陽子および重陽子入射による残留核生成断面積を逆運動学法によって測定した。その結果、重陽子入射ではAgやPd同位体の生成断面積が大きくなることを実験的に示した。また、理論計算による解析から、この生成断面積の増大は重陽子の不完全融合反応に起因することを示した。これらの結果は、陽子過剰核の生成において重陽子のような弱束縛核の利用が有効であることを示すものである。
中村 啓太; 馬場 啓多*; 羽成 敏秀; 川端 邦明
no journal, ,
In three-denominational (3D) reconstruction from a group of images, we verify whether scaling the result of 3D reconstruction according to the size of the objects for 3D reconstruction by adding a two- denominational (2D) code whose size is known in advance to the objects. The experimental result showed the accuracy of the scaled reconstructed result was high based on the size of the reconstructed 2D code.
馬場 啓多*; 渡部 有隆*; 中村 啓太*; 松本 拓; 羽成 敏秀; 川端 邦明
no journal, ,
In this paper, we research whether the reconstruction model integrated based on the 2d code is as valid as the model reconstructed from the whole image group. We investigated the difference in accuracy between the whole reconstruction model and integrate the reconstruction model in simulation. At first, we generate images assuming four linear orbits. We reconstruct three models using different three image groups, four linear orbits, two linear orbits, and another two linear orbits. We integrate two models based on 2d code. We evaluate the accuracy of the reconstruction model. We align the reconstruction model and reference model and count the points of the reference model where the distance to the nearest point of the reconstruction model is less than or equal to the threshold. We compare the whole model and the integrated model in the percentage of that point. The result shows high accuracy demonstrated with 15mm error.
中村 啓太*; 馬場 啓多*; 渡部 有隆*; 松本 拓; 羽成 敏秀; 川端 邦明
no journal, ,
本研究では、QRコードを用いた写真測量による立体復元結果の部分間レジストレーションによる統合手法を提案する。写真測量で獲得した復元結果は、復元ごとにスケーリングが異なるため統合が困難である。この問題を解決するために、大きさが既知のQRコードを復元対象環境に配置し、QRコードの大きさに基づいて復元結果をスケーリングし、スケーリングした復元結果をQRコードのマーカに基づいて統合する。本提案手法を検証するため、全画像から復元した結果と複数の復元結果を統合した結果の精度を比較した。検証結果から、精度を維持しつつ写真測量による3Dマッピングに要する時間の短縮に有効であることが示された。
