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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.
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
Kawabata, Kuniaki; Imabuchi, Takashi; Shirasaki, Norihito*; Suzuki, Soichiro; Ito, Rintaro; Aoki, Yuto; Omori, Takazumi
ROBOMECH Journal (Internet), 11, p.11_1 - 11_11, 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.
Imabuchi, Takashi; Kawabata, Kuniaki
Journal of Robotics and Mechatronics, 36(1), p.63 - 70, 2024/02
Imabuchi, Takashi; Kawabata, Kuniaki
Proceedings of 2024 IEEE/SICE International Symposium on System Integration (SII2024) (Internet), p.141 - 146, 2024/01
Kato, Toru*; Takahashi, Hiroki*; Yamashita, Meguru*; Doi, Akio*; Imabuchi, Takashi
Proceedings of 29th International Symposium on Artificial Life and Robotics (AROB 29th 2024) (Internet), p.1097 - 1100, 2024/01
Takahashi, Hiroki*; Kato, Toru*; Yamashita, Meguru*; Doi, Akio*; Imabuchi, Takashi
Proceedings of 29th International Symposium on Artificial Life and Robotics (AROB 29th 2024) (Internet), p.1093 - 1096, 2024/01
Kato, Toru*; Takahashi, Hiroki*; Yamashita, Meguru*; Doi, Akio*; Imabuchi, Takashi
Artificial Life and Robotics, 10 Pages, 2024/00
Imabuchi, Takashi; Kawabata, Kuniaki
Proceedings of 20th International Conference on Ubiquitous Robots (UR 2023), p.632 - 633, 2023/06
Imabuchi, Takashi; Kawabata, Kuniaki
Proceedings of 2023 IEEE/SICE International Symposium on System Integration (SII 2023) (Internet), p.396 - 400, 2023/01
Imabuchi, Takashi; Tanifuji, Yuta; Kawabata, Kuniaki
Proceedings of 2022 IEEE/SICE International Symposium on System Integration (SII 2022) (Internet), p.1036 - 1040, 2022/01
This paper describes a method for discrimination of the structures in nuclear power station by deep learning based on 3D point cloud data. In order to promote safe and steady decommissioning work, it is important to estimate and assume the condition in nuclear power station based on the measured sensor data. Especially, the data of the dose rate in the workspace is useful to plan the decommissioning task and, the shape and the material property of the structures in the workspace are required for the dose rate simulation. Shape data can be obtained by such as 3D Scan, however, it is difficult to acquire the material property data of the objects. Therefore, we consider that it is possible that the major material property can be estimated from the category of the structures in nuclear power station. In this paper, we proposed a structure discrimination method by 3D semantic segmentation with 3D point cloud data that consists of labeled points by referring category labels of CAD data of existing nuclear facility. We reported discrimination performance of the proposed method by hold-out validation.
Hotta, Katsuyoshi*; Prima, O. D. A.*; Imabuchi, Takashi; Kameda, Masashi*
The Journal of the Institute of Image Electronics Engineers of Japan, 50(3), p.392 - 401, 2021/07
A Visual field defect (VFD) is a loss of part of normal field of vision, resulting in vision distortion or sensation of seeing through a narrow tube. VFD is difficult to recognize by most patients because of the filling-in mechanism in the human brain. Widely used perimeters such as Goldmann and Humphrey have serious technical limitations on the subjectivity of visual field and vision acuity assessment. In contrast, the active perimeter automatically assesses VFDs by analyzing the involuntary eye movement characteristics when searching for visual stimuli presented on the screen. However, this perimeter has issues such as patients with VFDs encounter problems on performing the eye-gaze calibration, visual field assessment covers up to 60 degrees, and physical burden due to head fixation during the testing. This study proposes a high-performance active perimeter based on a high-speed eye tracking system in a Head-Mounted Display (HMD). The proposed perimeter has several features such as not requiring fixation of the head, testing up to 90 degrees Field-of-View (FoV), accurate pupil extraction, one-point gaze calibration, and visibility judgment by saccade latency and saccade count. A successful visual field testing has been conducted by 10 visually healthy subjects to recognize 76 visual stimuli randomly presented within 90 degrees FoV. Each testing was completed in about 14 minutes per subject, confirming that it significantly reduces the physical burden on the subject.
Hanari, Toshihide; Imabuchi, Takashi; Nakamura, Keita*; Kawabata, Kuniaki
no journal, ,
This paper introduces an image quality assessment on a 3D modeling to grasp the internal state of the nuclear reactor for a decommissioning of the Fukushima Daiichi Nuclear Power Station. We try a quantitative evaluation of videos or images acquired by the investigation inside the primary containment vessels and the reactor buildings for an efficient 3D reconstruction. Finally, we aim to develop a rapid 3D reconstruction method based on the image quality assessment.
Imabuchi, Takashi; Kawabata, Kuniaki
no journal, ,
no abstracts in English
Hanari, Toshihide; Imabuchi, Takashi; Kawabata, Kuniaki
no journal, ,
This paper introduces an image quality assessment on a 3D modeling to grasp the internal state of the nuclear reactor for the decommissioning of the Fukushima Daiichi Nuclear Power Station. We tried a quantitative evaluation of videos or images acquired by the investigation inside the primary containment vessels for an efficient 3D reconstruction and investigated the effects of image correction on feature extraction and matching using the images added noise. As a result, we confirmed that the number of corresponding points by feature matching between images improves with an increase in a score of image quality assessment.
Hanari, Toshihide; Imabuchi, Takashi; Kawabata, Kuniaki
no journal, ,
This paper describes the image selection method by multimodal detection for improving the computational efficiency of three-dimensional (3D) environment modeling based on sequential images for decommissioning. To reduce the computational time of the 3D modeling, we tried to extract suitable images for the 3D modeling from the sequential images. We applied multimodal detection by a statistical test on the image selection process. The elapsed times of the 3D models generated from the suitable images selected by the proposed method were reduced while keeping the reconstruction accuracy of the 3D models. The results suggest that suitable images can be extracted from the sequential images to decrease the computational time of the 3D modeling. Therefore, the suitable images selected by the proposed method contributed to efficiently performing the 3D modeling.
Doi, Akio*; Yamashita, Meguru*; Takahashi, Hiroki*; Kato, Toru*; Imabuchi, Takashi
no journal, ,
Kato, Toru*; Takahashi, Hiroki*; Yamashita, Meguru*; Doi, Akio*; Imabuchi, Takashi
no journal, ,
Yamashita, Meguru*; Takahashi, Hiroki*; Kato, Toru*; Doi, Akio*; Imabuchi, Takashi
no journal, ,
