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Journal Articles

3D reconstruction based on grouping similar structures for images acquired in the Fukushima Daiichi Nuclear Power Station

Imabuchi, Takashi; Hanari, Toshihide; Kawabata, Kuniaki

Proceedings of 2025 IEEE/SICE International Symposium on System Integration (SII2025), p.1416 - 1421, 2025/01

Journal Articles

Image selection method from image sequence to improve computational efficiency of 3D reconstruction; Application of fixed threshold to remove redundant images

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.

Journal Articles

Feasibility study on noise reduction from images using deep learning to improve spatial awareness in remote operation

Tanifuji, Yuta; Hanari, Toshihide; Kawabata, Kuniaki

Proceedings of International Topical Workshop on Fukushima Decommissioning Research 2024 (FDR2024) (Internet), 3 Pages, 2024/10

Journal Articles

Integration of multiple dense point clouds based on estimated parameters in photogrammetry with QR code for reducing computation time

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

Journal Articles

Investigation of the influence of the magnitude of camera vibration on 3D reconstruction results by photogrammetry based on simulation

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.

Journal Articles

Estimated camera trajectory-based integration among local 3D models sequentially generated from image sequences by SfM-MVS

Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Yashiro, Hiroshi*

Artificial Life and Robotics, 29(2), p.358 - 371, 2024/05

Journal Articles

Rail DRAGON: Long-reach Bendable Modularized Rail Structure for Constant Observation inside PCV

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.

Journal Articles

A Study on the effects of photogrammetry by the camera angle of view using computer simulation

Nakamura, Keita; Hanari, Toshihide; Matsumoto, Taku; Kawabata, Kuniaki; Yashiro, Hiroshi*

Journal of Robotics and Mechatronics, 36(1), p.115 - 124, 2024/02

Journal Articles

Integration of multiple partial point clouds based on estimated parameters in photogrammetry with QR codes

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

Journal Articles

Automatic system for sequential reconstruction from image sequences acquired from a camera by SfM-MVS

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

Journal Articles

Integration of 3D environment models generated from the sections of the image sequence based on the consistency of the estimated camera trajectories

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

Journal Articles

Image selection method from image sequence to improve computational efficiency of 3D reconstruction; Application of robust threshold based on multimodal test to images

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.

Journal Articles

3D reconstruction considering calculation time reduction for linear trajectory shooting and accuracy verification with simulator

Nakamura, Keita; Hanari, Toshihide; Kawabata, Kuniaki; Baba, Keita*

Artificial Life and Robotics, 28(2), p.352 - 360, 2023/02

Journal Articles

Automatic process for 3D environment modeling from acquired image sequences

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

Journal Articles

Verification for scaling 3D reconstruction result from images based on 2D code size in linear trajectory shooting

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

Journal Articles

Image selection method from image sequence to improve computational efficiency of 3D reconstruction; Analysis of inter-image displacement based on optical flow for evaluating 3D reconstruction performance

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.

Journal Articles

3D reconstruction considering calculation time reduction for linear trajectory shooting

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.

Journal Articles

Verification for 3D reconstruction of stairs using artificial image data

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

Journal Articles

An Image selection method from image sequence collected by remotely operated robot for efficient 3D reconstruction

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.

Journal Articles

Fast in-situ mesh generation using Orb-SLAM2 and OpenMVS

Wright, T.*; Hanari, Toshihide; Kawabata, Kuniaki; Lennox, B.*

Proceedings of 17th International Conference on Ubiquitous Robots (UR 2020) (Internet), p.315 - 321, 2020/00

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