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Imabuchi, Takashi; Kawabata, Kuniaki
Proceedings of 2026 IEEE/SICE International Symposium on System Integration (SII2026), p.1105 - 1109, 2026/01
Tanifuji, Yuta; Imabuchi, Takashi; Kawabata, Kuniaki
Proceedings of the 31st International Symposium on Artificial Life and Robotics (AROB 31st 2026), p.1011 - 1016, 2026/01
In decommissioning work at the Fukushima Daiichi Nuclear Power Station (1F), operators must rely on robot camera images degraded by turbidity, floating matter, lens contamination, and radiation induced noise, with no clean reference images available. This study investigates a lightweight restoration pipeline combining Noise2Noise (N2N) denoising and FSRCNN super resolution, and shows that the N2N
FSRCNN configuration most consistently improves visibility while suppressing noise and artificial textures, according to NIQE and PIQE scores and subjective evaluation.
Takahashi, Hiroki*; Kato, Toru*; Yamashita, Meguru*; Doi, Akio*; Imabuchi, Takashi
Artificial Life and Robotics, 13 Pages, 2026/00
Imabuchi, Takashi; Kawabata, Kuniaki
Artificial Life and Robotics, 30(1), p.184 - 195, 2025/02
Kato, Toru*; Takahashi, Hiroki*; Yamashita, Meguru*; Doi, Akio*; Imabuchi, Takashi
Artificial Life and Robotics, 30(1), p.126 - 135, 2025/02
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.
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
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
Proceedings of 29th International Symposium on Artificial Life and Robotics (AROB 29th 2024) (Internet), p.1097 - 1100, 2024/01
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
Times Cited Count：2 Percentile：64.74(Computer Science, Interdisciplinary Applications)Imabuchi, Takashi; Tanifuji, Yuta; Kawabata, Kuniaki
Proceedings of 2022 IEEE/SICE International Symposium on System Integration (SII 2022) (Internet), p.1036 - 1040, 2022/01
Times Cited Count：3 Percentile：73.48(Computer Science, Interdisciplinary Applications)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.
Imabuchi, Takashi; Prima, O. D. A.*
no journal, ,
no abstracts in English
Kawabata, Kuniaki; Shirasaki, Norihito*; Abe, Hiroyuki*; Hanari, Toshihide; Ito, Rintaro; Imabuchi, Takashi; Yamada, Taichi
no journal, ,
This paper describes a system for realizing simultaneous and synchronized collection of air dose rates and measurement locations for efficient dosimetry survey and spatio-temporal dosimetry data logging in nuclear facilities. The prototype system, which is currently under development, mainly consists of a 3D LiDAR-SLAM unit and a dosimeter integrated in a ROS framework. In this paper, we present the configuration of the prototype and the preliminary experimental results of dosimeter position estimation using it.
