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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 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
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：7 Percentile：92.11(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.
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.
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Naruse, Keitaro*
no journal, ,
no abstracts in English
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Naruse, Keitaro*
no journal, ,
We develop a three-dimensional (3D) reconstruction method based on sequential images obtained by the remotely operated machine for decommissioning works of Fukushima Daiichi Nuclear Power Station. In this presentation, we propose an image selection method for determining extraction intervals from sequential images using optical flow. We performed the 3D reconstruction introducing the proposed method. From the 3D reconstruction result, we confirmed that duplicate images during the stopping time of the remotely operated machine were almost eliminated from the sequential images, and the proposed method could contribute to reducing computational cost.
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Naruse, Keitaro*
no journal, ,
no abstracts in English
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita*; Naruse, Keitaro*
no journal, ,
no abstracts in English
Kawabata, Kuniaki; Nakamura, Keita; Hanari, Toshihide; Abe, Fumiaki; Suzuki, Kenta
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This paper reported a simulator for verifying performance to image acquisition conditions, which was constructed to promote the development of a 3D reconstruction method from images to grasp internal state of nuclear reactor. We constructed a simulator to acquire the images under arbitrary conditions using virtual camera model running on a straight rail. Feasibility study was conducted by capturing the images in the simulator and constructing 3D model, and its result was described.
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita
no journal, ,
no abstracts in English
Hanari, Toshihide; Kawabata, Kuniaki; Nakamura, Keita
no journal, ,
no abstracts in English
Nakamura, Keita; Baba, Keita*; Hanari, Toshihide; Kawabata, Kuniaki
no journal, ,
Matsuhira, Nobuto*; Komatsu, Ren*; Nakashima, Shinsuke*; Yamashita, Atsushi*; Fukui, Rui*; Takahashi, Hiroyuki*; Shimazoe, Kenji*; Woo, H.*; Tamura, Yusuke*; Takashi, Takayuki*; et al.
no journal, ,
Baba, Keita*; Watanobe, Yutaka*; Nakamura, Keita*; Matsumoto, Taku; Hanari, Toshihide; Kawabata, Kuniaki
no journal, ,
