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Imabuchi, Takashi; Hanari, Toshihide; Kawabata, Kuniaki
Proceedings of 2025 IEEE/SICE International Symposium on System Integration (SII2025), p.1416 - 1421, 2025/01
Hanari, Toshihide; Nakamura, Keita*; Imabuchi, Takashi; Kawabata, Kuniaki
Journal of Robotics and Mechatronics, 36(6), p.1537 - 1549, 2024/12
This paper describes three-dimensional (3D) reconstruction processes introducing the image selection method for efficiently generating a 3D model from an image sequence. To obtain suitable images for efficient 3D reconstruction, we tried to apply the image selection method to remove the redundant images in the image sequence. By the proposed method, the suitable images were selected from the image sequence based on optical flow measures and a fixed threshold. As a result, the proposed method can reduce the computational cost for the 3D reconstruction processes based on the image sequence acquired by the camera. We confirmed that the computational cost of the 3D reconstruction processes can reduce while keeping the 3D reconstruction accuracy at a constant level.
Tanifuji, Yuta; Hanari, Toshihide; Kawabata, Kuniaki
Proceedings of International Topical Workshop on Fukushima Decommissioning Research 2024 (FDR2024) (Internet), 3 Pages, 2024/10
Nakamura, Keita*; Baba, Keita*; Watanobe, Yutaka*; Hanari, Toshihide; Matsumoto, Taku*; Imabuchi, Takashi; Kawabata, Kuniaki
Artificial Life and Robotics, 29(4), p.546 - 556, 2024/09
Nakamura, Keita*; Hanari, Toshihide; Imabuchi, Takashi; Kawabata, Kuniaki
Proceedings of 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2024), p.7 - 8, 2024/07
Photogrammetry is a technique for 3D reconstruction of target objects from multiple images shot of the object. In the case of actual photography, the object may not be reconstructed due to the inability to shoot images suitable for photogrammetry because of vibration in the camera's angle of view of the object. Therefore, we implement this vibration by using random numbers and verify the influence of the magnitude of the vibration on the reconstruction result obtained by photogrammetry. The verification results show the relationship between the magnitude of the vibration and the success rate of 3D reconstruction.
Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Yashiro, Hiroshi*
Artificial Life and Robotics, 29(2), p.358 - 371, 2024/05
Yokomura, Ryota*; Goto, Masataka*; Yoshida, Takehito*; Warisawa, Shinichi*; Hanari, Toshihide; Kawabata, Kuniaki; Fukui, Rui*
IEEE Robotics and Automation Letters (Internet), 9(4), p.3275 - 3282, 2024/04
Times Cited Count:0 Percentile:0.00(Robotics)To reduce errors in the remote control of robots during decommissioning, we developed a Rail DRAGON, which enables continuous observation of the work environment. The Rail DRAGON is constructed by assembling and pushing a long rail structure inside the primary containment vessel (PCV), and then repeatedly deploying several monitoring robots on the rails to enable constant observation in a high-radiation environment. In particular, we have developed the following components of Rail DRAGON: bendable rail modules, straight rail modules, a basement unit, and monitoring robots. Concretely, this research proposes and demonstrates a method to realize an ultralong articulated structure with high portability and workability. In addition, it proposes and verifies the feasibility of a method for deploying observation equipment that can be easily deployed and replaced, while considering disposal.
Nakamura, Keita; Hanari, Toshihide; Matsumoto, Taku; Kawabata, Kuniaki; Yashiro, Hiroshi*
Journal of Robotics and Mechatronics, 36(1), p.115 - 124, 2024/02
Baba, Keita*; Watanobe, Yutaka*; Nakamura, Keita*; Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki
Proceedings of 29th International Symposium on Artificial Life and Robotics (AROB 29th 2024) (Internet), p.751 - 756, 2024/01
Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Yashiro, Hiroshi*; Nakamura, Keita*
Proceedings of 2023 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2023) (Internet), 7 Pages, 2023/12
Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Yashiro, Hiroshi*; Nakamura, Keita*
Proceedings of 22nd World Congress of the International Federation of Automatic Control (IFAC 2023) (Internet) , p.12107 - 12112, 2023/07
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*
Proceedings of 22nd World Congress of the International Federation of Automatic Control (IFAC 2023) (Internet) , p.11597 - 11602, 2023/07
This paper describes the image selection method by multimodal detection for improving the computational efficiency of three-dimensional (3D) reconstruction based on images in a time-series. To decrease the calculation time of the 3D reconstruction, an adequate selection from the images is required. For this reason, we introduced multimodal detection by a statistical test on the image selection process, and then applied it to soundness evaluation of the displacements based on the optical flow between images acquired by a camera. The results suggest that suitable images can be extracted from the images in a time-series for decreasing the calculation time of the 3D reconstruction. Therefore, the suitable images selected by the proposed method contributed to efficiently performing the 3D reconstruction.
Nakamura, Keita; Hanari, Toshihide; Kawabata, Kuniaki; Baba, Keita*
Artificial Life and Robotics, 28(2), p.352 - 360, 2023/02
Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Yashiro, Hiroshi*; Nakamura, Keita*
Proceedings of 28th International Symposium on Artificial Life and Robotics (AROB 28th 2023) (Internet), p.768 - 773, 2023/01
Nakamura, Keita; Baba, Keita*; Hanari, Toshihide; Kawabata, Kuniaki
Proceedings of 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2022), p.1497 - 1498, 2022/07
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita
Proceedings of 2022 IEEE/SICE International Symposium on System Integration (SII 2022) (Internet), p.1041 - 1045, 2022/01
Times Cited Count:9 Percentile:97.46(Computer Science, Interdisciplinary Applications)This paper describes the image selection method for an efficient three-dimensional (3D) reconstruction computation from an image sequence. Adequate images must be selected from the image sequence to improve the computational efficiency of the 3D reconstruction. Thus, we investigated a threshold based on the displacement among images obtained from a camera mounted on a remotely operated robot. The results confirmed that the proposed method can select adequate images for efficient 3D reconstruction by the threshold based on the optical flow from the image sequence. Therefore, the computational cost could be reduced by eliminating the duplicate and high-similarity images to perform the efficient 3D reconstruction.
Nakamura, Keita; Hanari, Toshihide; Kawabata, Kuniaki
Proceedings of 27th International Symposium on Artificial Life and Robotics (AROB 27th 2022) (Internet), p.771 - 775, 2022/01
In three-dimensional (3D) reconstruction from images, even if the number of images is small and each image captures the features of the target object for 3D reconstruction, highly accurate 3D reconstruction can be achieved in a short time. Therefore, to select effective images for 3D reconstruction, we consider that test data for image selection can be generated by constructing a virtual space using simulation and changing the shooting conditions. In this study, we focus on the case that a camera moves on a straight rail and obtains images, and investigate and verify the effective image selection conditions considering calculation time reduction for 3D reconstruction in this case by simulation.
Nakamura, Keita; Baba, Keita*; Yoshikawa, Takuma*; Hanari, Toshihide; Kawabata, Kuniaki; Matsumoto, Taku
New Trends in Intelligent Software Methodologies, Tools and Techniques; Frontiers in Artificial Intelligence and Applications, Vol.355, p.427 - 438, 2022/00
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Naruse, Keitaro*
Proceedings of International Workshop on Nonlinear Circuits, Communications and Signal Processing (NCSP 2020) (Internet), p.242 - 245, 2020/02
In this paper, we propose an image selection method to realize efficient three-dimensional (3D) reconstruction from image sequence collected by a remotely operated robot. The proposed method is to select adequate images for reconstruction computation based on optical flow measures. We confirmed that the proposed method can select adequate images for 3D reconstruction from the image sequence recorded by the remotely operated robot that is commanded stop-and-go motions. As a result, we demonstrated a 3D reconstruction could be performed efficiently with relatively few images that were selected by the proposed method.
Wright, T.*; Hanari, Toshihide; Kawabata, Kuniaki; Lennox, B.*
Proceedings of 17th International Conference on Ubiquitous Robots (UR 2020) (Internet), p.315 - 321, 2020/00