Misc - NAKAMURA Takayuki

陰関数表現学習を⽤いた点群データからの2次元形状再構成

中村恭之, 岸田 一希 （Part： Lead author )

第30回ロボティクスシンポジア   6A3   2025.03  [Refereed]

ターゲットカテゴリの特徴強化による少数ショットセマンティックセグメンテーション法の提案

王 開, 中村 恭之 （Part： Corresponding author )

第30回ロボティクスシンポジア   6B1   2025.03  [Refereed]

領域分割と深度推定の同時学習によるRGB画像のセマンティックセグメンテーションの精度向上

王 開, 中村 恭之

第41回 日本ロボット学会学術講演会   3D3-06   2023.09

U-Net型生成器を持つ敵対的生成ネットワークを用いた周辺環境の3次元点群データ補完法

和田拓真, 中村恭之 （Part： Corresponding author )

第28回ロボティクスシンポジア論文集     1A3   2023.03  [Refereed]

音響・画像情報を用いたヴァイオリン運弓動作と楽譜の同時認識による演奏記号自動記入システムの構築

谷田 実桜, 中村 恭之 （Part： Corresponding author )

研究報告音楽情報科学（MUS）   2022-MUS-134 ( 27 ) 1 - 5   2022.06

バイオリン運弓動作と楽譜の同時認識による演奏記号自動記入システムの構築

谷田実桜, 中村恭之 （Part： Corresponding author )

第22回 計測自動制御学会 システムインテグレーション部門講演会     2F3-05   2021.12

2D LiDAR データの補完機能付き VAE を用いた移動ロボットの自己位置同定手法

福田健太郎, 中村恭之 （Part： Corresponding author )

ロボティクス・メカトロニクス 講演会 2021   1P1-L08   2021.06

Athlete 3D pose estimation from a monocular TV sports video using pre-trained temporal convolutional networks

Tomoka Murakami, Takayuki Nakamura （Part： Corresponding author )

2020 IEEE International Conference on Systems, Man, and Cybernetics     2615 - 2620   2020.10  [Refereed]

学習済み深層ニューラルネットワークを用いたスポーツ映像における単一人物の三次元姿勢推定

村上朋郁, 中村恭之 （Part： Corresponding author )

第23回 画像の認識・理解シンポジウム   IS1-1-16   2020.08  [Refereed]

Extraction of the graceful feature from classical dance motion focused on dancer's perspective,

Yuki Inazu, Etsuko Ueda, Kentaro Takemura, Masanao Koeda Takayuki Nakamura, et al.,

Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body and Motion. HCII 2019, Lecture Notes in Computer Science ( Springer )  Vol. 11581   170 - 181   2019  [Refereed]

DOI

古典舞踊動作が作る曲面形状の「複雑さ」が印象評価に及ぼす影響

畠中亮太,上田悦子,竹村憲太郎,小枝正直,飯田賢一,中村恭之

第19回計測自動制御学会システムインテグレーション部門講演会(SI2018) ( 計測自動制御学会 )  19th   1D2-02   2018.12

オートエンコーダを用いた環境地図の特徴表現と自己位置推定

脇田翔平,中村恭之,八谷大岳

ロボティクス・メカトロニクス講演会2018 ( 日本機械学会 )    1P1-G06   2018.05

深度センサを用いた転倒転落防止システムの試用調査

中原 千里, 米崎 麻純, 窪田 大輝, 小杉 真一, 川手 健次, 寺西 朋裕, 武内 亜紀子, 松井 満政, 池田 篤俊, 上田 悦子, 中村 恭之

奈良県西和医療センター医学雑誌 ( (地独)奈良県立病院機構奈良県西和医療センター )  7 ( 1 ) 43 - 45   2018.03

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人間は、加齢とともに筋力低下や歩行障害、視力の衰えなどの様々な要因が重なりバランス保持能力が低下し、転倒の危険性が高くなる。入院患者の多くは高齢者であり、転倒リスクが高くなっているのが現状である。転倒は寝たきりに繋がる重大な事故であるため、転倒予防に努めることが重要である。その中で当センタースタッフと工学研究者との共同開発により、深度センサを用いた転倒・転落防止システムを考案した。今回、実際に転倒・転落の危険がある患者に対して深度センサを使用した。そして、既存ツールの精度や深度センサの感度について調査した。これらの結果に考察を加えて報告する。(著者抄録)

自由領域制限による経路教示と経路計画のハイブリッド自律走行

野村雅也,中村恭之,八谷大岳

第23回ロボティクスシンポジア ( 日本ロボット学会 )    2018.03  [Refereed]

3Dアンカーによる距離推定とロボットナビゲーションへの応用

八谷大岳,斎藤侑輝,射手矢和真,野村雅也,中村恭之

第23回ロボティクスシンポジア ( 日本ロボット学会 )    2018.03  [Refereed]

2.5D Faster R-CNN for Distance Estimation.

Hirotaka Hachiya, Yuki Saito, Kazuma Iteya, Masaya Nomura, Takayuki Nakamura

2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) ( IEEE )    3999 - 4004   2018  [Refereed]

DOI

Laser Variational Autoencoder for Map Construction and Self-Localization.

Shohei Wakita, Takayuki Nakamura, Hirotaka Hachiya

2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) ( IEEE )    3993 - 3998   2018  [Refereed]

DOI

透視投影アンカーを用いた特定物体の検出および距離推定

八谷大岳,斎藤侑輝,射手矢和真,中村恭之

第18回システムインテグレーション部門講演集（SI2017） ( 計測自動制御学会 )    pp.1952--1954   2017.12

古典舞踊動作の腕軌道が作る曲面形状に着目した優美さ特徴抽出

畠中亮太,上田悦子,飯田賢一,竹村憲太郎,小枝正直,中村恭之

第18回システムインテグレーション部門講演集 ( 計測自動制御学会 )  18th   2B3-05   2017.12

ディープラーニングによる特定人物検出と距離推定

八谷大岳、野村雅也、脇田翔平、射手矢和真、中村恭之

つくばチャレンジ2017参加レポート集 ( つくばチャレンジ2017 )    p.156   2017.11

経路教示と経路計画のハイブリッド自律走行

八谷大岳、野村雅也、脇田翔平、射手矢和真、中村恭之

つくばチャレンジ2017参加レポート集 ( つくばチャレンジ2017 )    p.155   2017.11

優美さ定量化のための古典舞踊動作における腕軌道と手先動作解析

畠中亮太,上田悦子,飯田賢一,竹村憲太郎,小枝正直,中村恭之

ロボティクス・メカトロニクス講演会2017 ( 日本機械学会 )  2017   1P2-L01 - L01   2017.05

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<p>The purpose of this study is to propose the quantification method of grace from the classical dance motion. William Hogarth said that human motion trajectory which includes "the line of beauty" seems graceful. We are trying to establish a new method to extract "the line of beauty" features from the curved surface formed by arm movements and to quantify the grace features. This paper describes a motion feature extraction method using Gauss map from curved surfaces formed by arm movements. We also discuss the influence of the degree of freedom of the wrist on the impression of the audience.</p>

DOI

頭部生体信号に基づく２つのニューラルネットワークの組合せによる個人適応型表情認識

平林真和,中村恭之

第22回ロボティクスシンポジア ( 日本ロボット学会 )    2017.03  [Refereed]

古典舞踊動作の手先軌道に着目した優美さの定量化

中村匠,飯田賢一,竹村憲太郎,小枝 正直,中村 恭之,上田 悦子

第17回計測自動制御学会システムインテグレーション部門講演会 (SI2016) ( 計測自動制御学会 )  17th   2N2-2   2016.12

深度センサを用いた転倒転落防止システムの実態調査

中原千里,飯田めぐみ,米崎麻純,小杉真一,池田篤俊,上田悦子,中村恭之

医療の質・安全学会誌, 11 号     232   2016.11

観客視点を考慮した古典舞踊動作における手先軌道の解析

中村匠,飯田賢一,竹村憲太郎,小枝正直,中村恭之,上田悦子

ロボティクス・メカトロニクス講演会2016 ( 日本機械学会 )  2016 ( 0 ) 2P1-12a4 - 12a4   2016.06

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<p>As robots in the welfare and service industries must come into contact with humans, they are required to make favorable impressions on human sensibilities. Our research focuses on the concept of "graceful motion," as defined by William Hogarth, who was an English painter and an aesthetician. To quantify the gracefulness of human motion, we approximate hand trajectories of five classical dancers by the B-spline curve. Then, we extract the S-shaped curves from these approximated trajectories and analyze its curve shape on the plane considering the audience's viewpoint. Finally, the relationship between the result of analysis and the impression evaluation is discussed.</p>

DOI

EMG信号とロボットハンド操作のダイレクトマッピング

Schleiss Michael,中村 恭之

ロボティクス・メカトロニクス講演会2016 ( 日本機械学会 )    2P1-11b3   2016.05

Parametric t-SNEを利用した頭部生体信号に基づく個人適応型表情認識法の提案

平林 真和,中村 恭之

ロボティクス・メカトロニクス講演会2016 ( 日本機械学会 )    1A2-11b4   2016.05

スキャンデータの順序保存統合と統合処理判断機能を持つ CIFベーススキャンマッチング法

脇田翔平,中村恭之

第21回ロボティクスシンポジア ( 日本ロボット学会 )  21st   2016.03  [Refereed]

Identification of gracefulness feature parameters for hand-over motion

Etsuko Ueda, Kenichi Iida, Kentaro Takemura, Takayuki Nakamura, Masanao Koeda

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) ( Springer Verlag )  9732   115 - 124   2016  [Refereed]

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As robots in the welfare and service industries must come into contact with humans, they are required to make favorable impressions on human sensibilities. Our research focuses on the concept of “graceful motion,” as defined by Hogarth. In order to implement graceful motion in robots, we analyze the hand trajectories which highly skilled servers generate in the task of passing a wine glass to extract graceful and ungraceful curve features. We propose to model the hand trajectory by a polynomial of the fourth degree and to adjust the S-shaped curvature of the hand trajectory. An impression evaluation is then conducted, which indicates that a 20% − 60% S-shaped curvature correspond to gracefulness in a hand-over motion
this parameter corresponds to Hogarth’s definition.

DOI

アジア古典舞踊動作における表現の差異

上田 悦子,中村 恭之,飯田 賢一,小枝 正直,竹村 憲太郎

第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015) ( 計測自動制御学会 )  16th   1120 - 1121   2015.12

アジア古典舞踊動作における表現の差異

上田 悦子,中村 恭之,飯田 賢一,小枝 正直,竹村 憲太郎

第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015) ( 計測自動制御学会 )  16th   pp.1120-1121   2015.12

標本データの増加を抑制する重み付きk近傍法に基づく人の操作を規範としたテザー係留型飛行ロボットの制御

轟千明,高橋泰岳,中村恭之

第33回日本ロボット学会学術講演会 ( 日本ロボット学会 )    1B1-03   2015.09

テザー係留型飛行ロボットのための大型地上制御ユニットの開発

轟千明, 高橋泰岳, 岡本明, 加藤万寿夫, 山崎敏夫, 田中史朗, 濱上雄大, 中村恭之

ロボティクス・メカトロニクス講演会2015 ( 日本機械学会 )    2A1-F02   2015.05

スキャンデータの順序保存統合を用いたCIFベーススキャンマッチング法

脇田翔平,中村恭之

ロボティクス・メカトロニクス講演会2015 ( 日本機械学会 )  2015   2A2-M09 - _2A2-M09_3   2015.05

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This paper proposes an order-preserving merging method of 2D range scans for enhancing our CIF-based scan matching algorithm which is a global scan matching algorithm using the CIF descriptors and a geometric constraint between keypoints. Our enhanced version of the CIF-based scan matching algorithm can perform global scan matching more robustly in a large cluttered environments without using an initial alignment. Through experiment in real environment, we confirm the validity of our method.

DOI

低価格な患者見守りシステムの開発－第3報：距離画像に基づく患者状態識別法－

音田恭宏, 中村恭之,上田悦子,池田篤俊,小笠原 司

第20回ロボティクスシンポジア ( 日本ロボット学会 )    pp.235--242   2015.03  [Refereed]

2A2-U05 Development of Low-cost Patient "MIMAMORT" Device : Classification of patient's state based on a depth image using a deep neural network

MAEGAWA Hiroaki, Nakamura Takayuki, UEDA Etsuko, IKEDA Atsutoshi, OGASAWARA Tsukasa

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )  2015 ( 0 ) _2A2 - U05_1-_2A2-U05_3   2015

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Recently, we have proposed a low-cost and highly reliable monitoring device which is called the MIMAMORI device for a monitoring system at a medical institute. The MIMAMORI device can detect dangerous situations, such as when a patient is at risk of rolling out of bed. In this paper, we detail the patient state classification algorithm using a deep neural network of the MIMAMORI device, and verify its practical applicability with a preliminary experiment.

DOI

Acquisition of Human Operation Characteristics for Kite-based Tethered Flying Robot using Human Operation Data

Chiaki Todoroki, Yasutake Takahashi, Takayuki Nakamura

2015 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2015) ( IEEE )    15220 - 15526   2015  [Refereed]

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This paper shows human skill acquisition systems to control the kite-based tethered flying robot. The kite-based tethered flying robot has been proposed as a flying observation system with long-term activity capability[1]. It is a relatively new system and aimed to complement other information gathering systems using a balloon or an air vehicle.
This paper shows some approaches of human operation characteristics acquisition based on fuzzy learning controller, k-nearest neighbor algorithm, and artificial neural network for the kite-based tethered flying robot using human operation data and their validity through computational simulation which we developed[2].

見守りシステム「MIMAMORI」の臨床応用に向けた検証

池田篤俊,小杉真一,上田悦子,中村恭之,小笠原司

第58回自動制御連合講演会(CD-ROM)   2G1‐6   2015

Learning Control based on Intention Recognition by Inverted Two-Wheeled Mobile Robot through Interactive Operation

Shinnosuke Nomura, Takuya Inoue, Yasutake Takahashi, and Takayuki Nakamura

Joint 7th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2014) ( IEEE )  30   pp. 117-122 - 34   2014.12  [Refereed]

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Recently, cooperative operation of a human and the robot through the physical interaction has been studied and developed. As one of the human supporting robots, inverted pendulum two-wheeled mobile robots have been proposed to support human transportation with/without a heavy luggage. In our laboratory, we have studied a suitcase-type two-wheeled inverted pendulum mobile robot that changes the control parameters according to the user intention. The robot recognizes the user intention by the user's physical operation of the robot. It changes the control parameter according to the recognized user intention and supports the luggage transportation. It is necessary to learn the parameters of the control and user-intention recognition user by user because the user preference is different one by one. This paper proposes a method to learn the control parameters and their corresponding intention recognition parameters of the user for a suitcase-type inverted-pendulum mobile robot for appropriate assistive control. In order to show the validity of the proposed method, it shows some experimental results with a real robot.

DOI

Low-cost and Highly Reliable MIMAMORI Device for Patient Monitoring

A. Ikeda, Y. Otoda, E. Ueda, T. Nakamura and T. Ogasawara

IEEE International Conference on Robotics and Biomimetics ( IEEE )    1697 - 1702   2014.12  [Refereed]

Learning Fuzzy Control Parameters for Kite-based Tethered Flying Robot using Human Operation Data

Chiaki Todoroki, Yasutake Takahashi, and Takayuki Nakamura

Joint 7th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2014) ( IEEE )    pp.111-116   2014.12  [Refereed]

インタラクティブな操作を行う倒立二輪型ロボットのための意図認識モジュールの漸次的学習

野村慎之介,井上卓也,高橋泰岳,中村恭之

日本知能情報ファシィ学会合同シンホシウム 2014 ( 日本知能情報ファシィ学会 )    pp.3-44   2014.11

人の操作データに基づくテザー係留型飛行ロボットのためのファジィ制御パラメータの学習

轟千明,高橋泰岳,中村恭之

第32回日本ロボット学会学術講演会 ( 日本ロボット学会 )    3J2-03   2014.09

インタラクティブな操作を行うユーザの意図認識による倒立二輪型ロボットの学習制御

野村慎之介,井上卓也,高橋泰岳,中村恭之

第30回ファジイ・システム・シンポジウム ( 日本知能情報ファジイ学会 )  30   pp.29-34 - 34   2014.09

　View Summary

Recently, cooperative operation of a human and the robot through the physical interaction has been studied and developed. As one of the human supporting robots, inverted pendulum two-wheeled mobile robots have been proposed to support human transportation with/without a heavy luggage. In our laboratory, we have studied a suitcase-type two-wheeled inverted pendulum mobile robot that changes the control parameters according to the user intention. The robot recognizes the user intention by the user's physical operation of the robot. It changes the control parameter according to the recognized user intention and supports the luggage transportation. It is necessary to learn the parameters of the control and user-intention recognition user by user because the user preference is different one by one. This paper proposes a method to learn the control parameters and their corresponding intention recognition parameters of the user for a suitcase-type inverted-pendulum mobile robot for appropriate assistive control. In order to show the validity of the proposed method, it shows some experimental results with a real robot.

DOI

Fuzzy Control for Kite-based Tethered Flying Robot

Tohru Ishii, Yasutake Takahashi, Yoichiro Maeda and Takayuki Nakamura

IEEE International Conference on Fuzzy Systems ( IEEE )    746 - 751   2014.07  [Refereed]

Intention Recognition by Inverted Two-Wheeled Mobile Robot through Interactive Operation

Yasutake Takahashi, Takuya Inoue and Takayuki Nakamura

IEEE International Conference on Fuzzy Systems ( IEEE )    1291 - 1296   2014.07  [Refereed]

合同変換に不変な特徴量(CIF)とキーポイント間の幾何学的拘束に基づいたロバストなスキャンマッチング法の提案

脇田翔平,中村恭之

ロボティクスメカトロニクス講演会2014 ( 日本機械学会 )  2014   2A2-T05 - _2A2-T05_4   2014.05

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This paper proposes a new global scan matching algorithm using the CIF descriptors and a geometric constraint between keypoints. The CIF descriptor was proposed in our previous work. It is an feature descriptor that is invariant against a congruence transformation. Our method can perform global scan matching in a cluttered environments without using an initial alignment. Through experiment in real environment, we confirm the validity of our method.

DOI

インタラクティブな操作を行う倒立二輪型ロボットによるユーザ意図認識と制御

井上卓也,高橋泰岳,中村恭之

ロボティクスメカトロニクス講演会2014 ( 日本機械学会 )    2A1-R01   2014.05

高品質なみかん栽培のためのセンサシステムの開発

中村恭之

ロボティクスメカトロニクス講演会2014 ( 日本機械学会 )    1P2-W04   2014.05

RGB-D カメラを用いた3 次元物体認識のためのHS-SHOT 特徴量の提案

中村裕介,中村恭之

ロボティクスメカトロニクス講演会2014 ( 日本機械学会 )    3P1-X05   2014.05

テザー係留型飛行ロボットの開発と自律飛行制御

石井徹,轟千明,高橋泰岳,前田陽一郎,中村恭之

ロボティクスメカトロニクス講演会2014 ( 日本機械学会 )    2A1-A04   2014.05

2Dスキャンデータの合同変換に不変な特徴量(CIF)を用いたスキャンマッチング

中村恭之,脇田翔平

第19回ロボティクスシンポジア ( 日本ロボット学会 )  19th   6C3, pp.592--598   2014.03  [Refereed]

力学的操作による意図認識に基づく倒立二輪型ロボットの制御

井上卓也,高橋泰岳,中村恭之

第2回人間共生システムデザインコンテスト(HSS-DC) & 第16回HSS研究会 ( 日本知能情報ファシィ学会 )    G1-2   2014.03

Robust global scan matching method using congruence transformation invariant feature descriptors and a geometric constraint between keypoints

Takayuki Nakamura, Shohei Wakita

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics ( Institute of Electrical and Electronics Engineers Inc. )  2014- ( January ) 3103 - 3108   2014  [Refereed]

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This paper proposes a new global scan matching algorithm using the CIF descriptors and a geometric constraint between keypoints. The CIF descriptor was proposed in our previous work. It is a feature decriptor that is invariant against a congruence transformation. In our previous work, our method was able to perform robust local scan matching using CIF decriptors, but was apt to fail global scan mathching where a large map is used as the reference scan. In this paper, in order to resolve this problem, we propose to use a geometric constraint between keypoints in addtion to the CIF decriptors for the global scan mathching task. Our method can perform global scan matching in a cluttered environment without using an initial alignment. Through experiment in real environment, we confirm the validity of our method by comparing the performance of our method and that of our previous method.

DOI

インタラクティブな操作を行う倒立二輪型ロボットによる意図認識

井上卓也,高橋泰岳,中村恭之

日本知能情報ファジィ学会第22回北信越支部シンポジウム ( 日本知能情報ファジイ学会 )    2013.11

テザー係留型飛行ロボットのシミュレータ開発

轟千明,高橋泰岳,中村恭之

日本知能情報ファジィ学会第22回北信越支部シンポジウム ( 日本知能情報ファジイ学会 )    2013.11

Tethered Flying Robot for Information Gathering System

Tohru Ishii, Yasutake Takahashi, Yoichiro Maeda and Takayuki Nakamura

IROS'13 Workshop on Robots and Sensors integration in future rescue INformation system (ROSIN'13) ( IEEE )    2013.11  [Refereed]

自立支援用ロボットアームのための簡便な操作インターフェースの開発

中村恭之

日本ロボット学会学術講演会2013併設シンポジウム「介護・リハビリ・自立のための実用的なロボット技術の創出」講演集 ( 日本ロボット学会 )    pp.56-57   2013.09

車輪型移動ロボットのための直感的操作を可能とする遠隔操縦インターフェースの開発

赤阪拓也,中村恭之

情報処理学会関西支部支部大会2013 ( 情報処理学会 )    G101   2013.09

2Dスキャンデータの合同変換に不変な特徴量(CIF)を用いたロバストなスキャンマッチング

中村恭之,脇田翔平

第31回日本ロボット学会学術講演会 ( 日本ロボット学会 )    3J1-02   2013.09

KinectとARtoolkitを用いた簡便な福祉用ロボットアーム制御システムの開発

小川洋平,中村恭之

ロボティクスメカトロニクス講演会2013 ( 日本機械学会 )    1P1-Q01   2013.05

ロバストなスキャンマッチングのための合同変換に不変な特徴量(CIF)の提案

田下裕一,中村恭之

ロボティクスメカトロニクス講演会2013 ( 日本機械学会 )    1A2-H10   2013.05

脳信号収集ワイヤレスヘッドセットを用いた電動車椅子ロボットの制御

茨木仁希,中村恭之

ロボティクスメカトロニクス講演会2013 ( 日本機械学会 )    2A1-C06   2013.05

多次元データの高速・頑健なクラスタリングためのHetero-BOOLアルゴリズムの提案

安達郁視,中村恭之

第18回ロボティクスシンポジア ( 日本ロボット学会 )    2D4, pp.251-256   2013.03  [Refereed]

教師なしクラスタリング手法による距離画像上等高線の高速生成

安達郁視,中村恭之

動的画像処理実利用ワークショップ ( 精密工学会 )    O3-2, pp.53-54   2013.03  [Refereed]

Modeling of graceful motions: Determining characteristics of graceful motions from handover motion

T. Tanaka, T. Tsuduki, E. Ueda, K. Takemura, T. Nakamura

WIT Transactions on Modelling and Simulation ( WITPress )  55   453 - 463   2013  [Refereed]

　View Summary

Since robots in the welfare and service industries make contact with humans, they have to produce favorable impressions in the human mind. This study proposes graceful motions of humans and aims to quantify it to make robot motions more favorable. We have focused on the handover motion of a glass and selected waiters as subjects. Their motions were recorded as trajectories by motion capture system and evaluated by observers. The result revealed that the motions of them produce favorable and graceful impressions. The trajectory was projected on a two-dimensional plane surface that was obtained by conducting principal component analysis. The projected trajectory was calculated by fitting 2 spline curves. As a result, the common characteristics of graceful motions were extracted as parameters of spline curves and graceful motions are characterized by S-shaped trajectories. After that, 4 motions were created using 3DCG by changing extracted parameters step by step to verify which parameters provide graceful impressions through simulations. Finally, the parameters that produce graceful and favorable impressions were determined. © 2013 WIT Press.

DOI

Real-Time 3-D Path Generation Method for a Robot Arm by a 2-D Dipole Field

Takayuki Nakamura

2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING ( IEEE )    745 - 749   2013  [Refereed]

　View Summary

This paper proposes a simple algorithm for generating a 3-D path of an end effector of a robot arm in real-time. We assume that the global position and orientation of the robot's end effector, a waypoint and a destination are known. Our algorithm computes a 2-D dipole field on the local plane through the end effector, the waypoint and the destination. The robot's end effector moves along the 2-D dipole field. Through experiments in computer simulation and real environment, we confirm the validity of our method.

Congruence Transformation Invariant Feature Descriptor for Robust 2D Scan Matching

Takayuki Nakamura, Yuuichi Tashita

2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013) ( IEEE )    1648 - 1653   2013  [Refereed]

　View Summary

The ability of computing similarities between two data sets is a key for many applications such as video tracking, object recognition, image stitching, 3D modeling and so on. Recently, Lowe has discovered a promissing approach for matching 2D images based on the local invariant feature descriptor called SIFT [1]. We are really inspired by Lowe's method. In this paper, we propose a new local invariant feature descriptor for matching 2D scan data. The proposed feature descriptor is called "CIF", that is a feature which remains unchanged when a congruence transformation is applied. We can perform global scan matching in cluttered environments by matching an input scan with a reference scan based on CIF without any initial alignments. the validity of our method is confirmed by experiments in real environment.

DOI

人間動作の経由点表現を用いた倒立二輪型移動ロボットによる摸倣学習

木村竜也, 高橋泰岳, 前田陽一郎, 中村恭之

第28回ファジイ・システム・シンポジウム ( 日本知能情報ファジイ学会 )    pp.458-463   2012.09

擬似ユークリッドノルムに基づくパーティクルフィルタによる移動ロボットの自己位置同定

田下裕一,中村恭之

日本ロボット学会学術講演会2012 ( 日本ロボット学会 )    4J1-8   2012.09

テザー係留型飛行ロボットの自律飛行制御

石井徹(福井大学大学院),高橋泰岳(福井大学大学院),前田陽一郎(福井大学大学院),中村恭之

日本ロボット学会学術講演会2012 ( 日本ロボット学会 )    4F3-3   2012.09

PSDセンサを用いた車輪倒立振子型ロボットの制御

木村竜也(福井大学),高橋泰岳(福井大学),前田陽一郎(福井大学),中村恭之

日本ロボット学会学術講演会2012 ( 日本ロボット学会 )    2G1-5   2012.09

KinectのRGB-Dカメラのための自動キャリブレーション法

中村裕介,中村恭之

画像の認識・理解シンポジウム2012 ( 電子情報通信学会 )    IS3-22   2012.08  [Refereed]

Kinect センサーのためのRGB-D カメラ自動キャリブレーション

中村恭之,中村裕介

ロボティクスメカトロニクス講演会2012 ( 日本機械学会 )    1A2-A06   2012.05

ダイポール場を利用したロボットアームの実時間軌道生成法

中村恭之,中原由希子

ロボティクスメカトロニクス講演会2012 ( 日本機械学会 )    2A1-A01   2012.05

Body mapping from human demonstrator to inverted-pendulum mobile robot for learning from observation

Yasutake Takahashi, Tatsuya Kimura, Yoichiro Maeda, Takayuki Nakamura

IEEE International Conference on Fuzzy Systems ( IEEE )    1 - 6   2012  [Refereed]

　View Summary

This paper proposes a method for learning the kicking motion of an inverted-pendulum mobile robot from the observation of a human player's demonstration. An inverted-pendulum mobile robot with upper and lower body links observes the human demonstration with a motion capture system and estimates the posture of each human links. The robot maps the links to its own two links and estimates link posture trajectories during the kicking motion. The robot starts learning kicking based on the trajectory parameters for imitation. Through this process, our robot can learn dynamic kicking shown by a human. The mapping gives an important role for successive imitation. A reasonable and feasible procedure of learning from observation for an inverted-pendulum robot is proposed. Learning performance from observation is investigated with a preliminary experiment. © 2012 IEEE.

DOI

テザー係留型飛行ロボット

十河,石井,高橋,前田,永田,中村

第27回ファジイ・システム・シンポジウム ( 日本知能情報ファジイ学会 )    2011.09

倒立二輪型移動ロボットによる人間の動的動作模倣のための身体部位マッピング

高橋,木村,野々下,高橋,前田,中村

第27回ファジイ・システム・シンポジウム ( 日本知能情報ファジイ学会 )    2011.09

指示を求めるオフィスロボットの開発

田下 裕一,中村 恭之

平成23年度情報処理学会関西支部大会 ( 情報処理学会 )    D-102   2011.09

倒立二輪型移動ロボットによる人間の動的動作模倣のための身体部位マッピング

高橋佐多弥,高橋泰岳,前田陽一郎,中村恭之

第25回人工知能学会全国大会 ( 人工知能学会 )    2011.05

3次元距離情報と色情報の統合に基づく3次元物体追跡

中村恭之

ロボティクスメカトロニクス講演会2011 ( 日本機械学会 )    2A1-L07   2011.05

Person Tracking System with Active Camera

LI Peng, QI Yiqiang, WU Haiyuan, NAKAMURA Takayuki, MIURA Hirokazu, TAKI Hirokazu

電気学会研究会資料. IIS, 次世代産業システム研究会 = The papers of Technical Meeting on Innovative Industrial System, IEEE Japan   2011 ( 21 ) 23 - 26   2011.03

Detection of Grasping Position for Robot Hand Using Three-dimensional Vision without Shape Models

HIRATA Masaya, MIURA Hirokazu, NAKAMURA Takayuki, WU Haiyuan, TOMITA Fumiaki, NISHI Takao, MATSUDA Noriyuki, TAKI Hirokazu

電気学会研究会資料. IIS, 次世代産業システム研究会 = The papers of Technical Meeting on Innovative Industrial System, IEEE Japan   2011 ( 21 ) 15 - 18   2011.03

Classifier acceleration by imitation

Takahiro Ota, Toshikazu Wada, Takayuki Nakamura

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   6495 ( 4 ) 653 - 664   2011  [Refereed]

　View Summary

This paper presents a framework named "Classifier Molding" that imitates arbitrary classifiers by linear regression trees so as to accelerate classification speed. This framework requires an accurate (but slow) classifier and large amount of training data. As an example of accurate classifier, we used the Compound Similarity Method (CSM) for Industrial Ink Jet Printer (IIJP) character recognition problem. The input-output relationship of trained CSM is imitated by a linear regression tree by providing a large amount of training data. For generating the training data, we developed a character pattern fluctuation method simulating the IIJP printing process. The learnt linear regression tree can be used as an accelerated classifier. Based on this classifier, we also developed Classification based Character Segmentation (CCS) method, which extracts character patterns from an image so as to maximize the total classification scores. Through extensive experiments, we confirmed that imitated classifiers are 1500 times faster than the original classifier without dropping the recognition rate and CCS method greatly corrects the segmentation errors of bottom-up segmentation method. © 2011 Springer-Verlag Berlin Heidelberg.

DOI

Development of body mapping from human demonstrator to inverted-pendulum mobile robot for imitation

Sataya Takahashi, Yasutake Takahashi, Yoichiro Maeda, Takayuki Nakamura

IEEE International Conference on Fuzzy Systems ( IEEE )    1344 - 1349   2011  [Refereed]

　View Summary

This paper addresses development of body mapping from a human demonstrator to an inverted-pendulum mobile robot for imitation. An inverted-pendulum mobile robot with torso and body links learns a dynamic kicking motion shown by a human. The robot observes the human demonstration with a camera, extracts the human region in each of images, maps the region to its own two links, estimates the link posture trajectories, and starts kicking motion learning based on the trajectory parameters for imitation. The mapping parameter gives an important role for successive imitation. A reasonable and feasible procedure of learning from observation for an inverted-pendulum robot and development of the body mapping is proposed and investigated in this paper. © 2011 IEEE.

DOI

Real-time 3-D object tracking using Kinect sensor

Takayuki Nakamura （Part： Lead author )

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 ( IEEE )    784 - 788   2011  [Refereed]

　View Summary

In this paper, we propose a novel method for real-time three-dimensional (3-D) object tracking based on integration of 3-D range and color information. To get 3D range and color information simultaneously, our method utilizes the Microsoft Kinect sensor which is composed of depth and color cameras. 3-D range and color information are integrated using the estimated depth and color cameras intrinsic parameters and relative transformation between the cameras. The target region can be tracked by processing depth pixels with color information. Through experiment in real environment, we confirm the validity of our method. © 2011 IEEE.

DOI

Inverted-Pendulum Mobile Robot Motion Learning from Human Player Observation

Sataya Takahashi, Hiroaki Nonoshita, Yasutake Takahashi, Y.Maeda, Takayuki Nakamura

Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems ( Japan Society for Fuzzy Theory and intelligent informatics (SOFT) )    pp.211-216   2010.12  [Refereed]

方策勾配法を用いた倒立振子型移動ロボットの蹴球動作学習

野々下博昭,高橋泰岳,中村恭之,前田陽一郎

第28回日本ロボット学会学術講演会 ( 日本ロボット学会 )    2010.09

Behavioral Development of Ball Kicking Motion of a Two-wheeled Inverted Pendulum Mobile Robot

Yasutake Takahashi, Hiroaki Nonoshita, Takayuki Nakamura, Yoichiro Maeda

2010 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2010) ( IEEE )    pp.830-835   2010  [Refereed]

　View Summary

In this paper, we introduce a method for generating a dynamic motion such that a two-wheeled inverted pendulum robot kicks a ball far away utilizing its own body dynamics while it keeps standing. Such a dynamic motion can be acquired through trial and error based on a reinforcement learning scheme. We utilize a simple policy gradient method to acquire a kicking motion which is designed by defining the desired parameters such as body angle, wheel angular velocity and so on. To show the validity of our approach, we perform computer simulation experiments of behavior acquisition for the two-wheeled inverted pendulum robot. Based our approach, we succeeded in acquiring the kicking motion of the two-wheeled inverted pendulum robot. A very interesting finding is: each of the acquired motions deviates from the desired trajectory, which is given by the human designer while keeping evaluation value of the acquired motion high.

2P1-F06 Picking Up By A Wheeled Inverted Pendulum Manipulator

Nakamura Takayuki

ロボティクス・メカトロニクス講演会講演概要集 ( The Japan Society of Mechanical Engineers )  2009   "2P1 - F06(1)"-"2P1-F06(3)"   2009.05

　View Summary

In this paper, we propose a new nonlinear programming based motion generator for a wheeled inverted pendulum manipulator. Our method utilizes L-BFGS-B method which can handle inequality constraints intrinsically and whose computational cost is low. Our method can generate various motions of the robot only by setting up an objective function for a given task. Through computer simulation, we confirm the validity of our method.

2A2-D18 Learning Dynamic Throwing Motion of A Wheeled Inverted Pendulum utilizing Whole Body Dynamics

Nishikawa Takehiro, TAKAHASHI Yasutake, NAKAMURA Takayuki, ASADA Minoru, ISHIGURO Hiroshi

ロボティクス・メカトロニクス講演会講演概要集 ( The Japan Society of Mechanical Engineers )  2009   "2A2 - D18(1)"-"2A2-D18(4)"   2009.05

　View Summary

We apply reinforcement learning to a wheeled inverted pendulum robot that acquires dynamic throwing motion utilizing whole body dynamics. Large number of parameters are needed to be calibrated so that the robot becomes able to throw a ball far away utilizing its own body dynamics while it keeps standing. We investigated the learning process of the throwing motion by application of a policy gradient method with a dynamics simulater.

2P2-C12 A Coarse-to-Fine Strategy for Fast Scan Matching

Nakamura Takayuki, Maeda Yukihiro

ロボティクス・メカトロニクス講演会講演概要集 ( The Japan Society of Mechanical Engineers )  2008   "2P2 - C12(1)"-"2P2-C12(4)"   2008.06

　View Summary

In this paper, we propose a fast and reliable scan matching method so that it can be used in the cluttered environment. To speed up the processing time, our method utilize coarse-to-fine strategy. First, our method employs histgram matching approach to estimate displacements of position and orientation roughly. Second, to estimate them accurately, our method employ constrained least square method based on the formulation using poin-to-line metric. Such metric is also effective to the cluttered environment. The experimental results show the usefulness of our method.

2P2-H02 Generating Various Motions of Multiple Articulated Mobile Robot with Nonlinear Programming

Nakamura Takayuki

ロボティクス・メカトロニクス講演会講演概要集 ( The Japan Society of Mechanical Engineers )  2008   "2P2 - H02(1)"-"2P2-H02(4)"   2008.06

　View Summary

In this paper, we propose a new nonlinear programming based inverse kinematics solver for generating various motions of a multiple articulated robot. Our method utilizes L-BFGS-B method which can handle inequality constraints intrinsically and whose computational cost is low. Our method can generate various motions of a multiple articulated robot only by setting up objective functions. In this paper, we provide several objective functions one of which can generate the motion of a floating-base robot and which can generate self-motion of the redundant robot without calculating the pseudoinve...

Generating Various Motions of Multiple Articulated Mobile Robot with Nonlinear Programming

The 10th International Conference on the SIMULATION OF ADAPTIVE BEHAVIOR (SAB'08)   P28   2008  [Refereed]

測域センサデータの直線追跡に基づくスキャンマッチング法

武野哲也, 中村恭之, 和田俊和

画像の認識・理解シンポジウム(MIRU2007)     1564 - 1569   2007.07  [Refereed]

主成分木を用いた写像学習法の提案と性能比較

荒井英剛,中村恭之,和田俊和

MIRU2007画像の認識・理解シンポジウム論文集     pp. 516--521   2007.07

2P1-G05 Local Environmental Map Generation Based on Tracking Lines in Laser Range Data

Takeno Tetsuya, Nakamura Takayuki, Wada Toshikazu

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 )  2007   "2P1 - G05(1)"-"2P1-G05(3)"   2007.05

　View Summary

We propose a new scan matching algorithm that makes use of the simple polygonal structure of environment. Our method extracts line segments from a current scan and matches them with line segments in a previous scan, that is, tracks the line segments in the sequence of scan. Our method simultaneously computes the pose shift (Δx ,Δy,Δθ) based on the correspondence between line segments in the two successive scans and the transformation such that the current scan is mapped optimally to the previous scan. By the use of line segments in the scan, it is possible to detect invariants for position ...

2A2-F07 Self Localization Method for Vision-based Mobile Robot Using Multiple Parallel Line Patterns

Kawano Hiroaki, Nakamura Takyuki, Yokomori Ryosuke, Chen Qian, Wada Toshikazu

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 )  2007   "2A2 - F07(1)"-"2A2-F07(3)"   2007.05

　View Summary

We propose a new self-localization method for a mobile robot equipped with a fixed-viewpoint active camera by observing multiple parallel lines patterns with the camera. The method utilizes the technique for estimating location and posture of the camera from one parallel lines pattern which was previously developed by our research group. The method switches from a certain parallel lines pattern used for self-localization to another parallel lines pattern while the robot is moving in the environment. After the new parallel lines pattern is selected, the method keeps estimating location and p...

分離度フィルタと PaLM-treeを用いた視線方向の推定

松本拓也, 呉海元, 和田俊和, 中村恭之

画像の認識・理解シンポジウム(MIRU2006)     1042 - 1047   2006.07  [Refereed]

機械学習法のロボット知能化システムへの応用(2)

中村 恭之, 和田 俊和

機械の研究 ( 養賢堂 )  58 ( 2 ) 263 - 267   2006.02

機械学習法のロボット知能化システムへの応用(1)

中村 恭之, 和田 俊和

機械の研究 ( 養賢堂 )  58 ( 1 ) 7 - 16   2006.01

2A1-E08 Tightly coupled planning and model learning for real robot behavior learning

Kawahara Terumi, Nakamura Takayuki, Wada Toshikazu

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 )  2006   "2A1 - E08(1)"-"2A1-E08(4)"   2006

　View Summary

This paper presents a new framework for learning dynamic robot behavior such that a wheeled mobile robot moves to the destination with wheel slippage. First, our method learns the body dynamics from a large number of sensory-motor instances using PaLM-tree algorithm, which approximates nonlinear mapping in arbitrary preciseness. The mapping specifies a transition model from state-action pair to next state. An optimal action sequence generating the transition from initial to goal states is obtained by the branch-and-bound algorithm using the estimated transition model. Then, new sensory-moto...

Instance Based Construction of Distinctiveness Map and Its Application : Distinctiveness Map Based Stereo Tracking

IIZUKA Takeo, WADA Toshikazu, HUA Chunsheng, NAKAMURA Takayuki

IPSJ SIG Notes. CVIM ( 一般社団法人情報処理学会 )  2005 ( 112 ) 9 - 16   2005.11

　View Summary

This paper presents a measure for color based target detection and tracking. The measure, distinctiveness, extends our nearest neighbor classification based color target detection to target tracking. Since the color target detection can only detects target regions, if no target is detected near tracking region, the tracking fails. However, if we have a measure representing the distinctiveness of the target color, we can keep tracking by finding the regions having higher distinctiveness. The distinctiveness is defined not only by the color distance from the target color set but also by the d...

事例を用いた顕著性マップの構築とその応用

飯塚,和田,華,中村

情報処理学会研究報告2005-CVIM-151     65-70   2005.11

Learning Nonlinear Mapping based on Recursive Partitioning of Data Space : Current and Old Trend on Regression Tree

NAKAMURA Takayuki, WADA Toshikazu

Journal of Information Processing Society of Japan ( 一般社団法人情報処理学会 )  46 ( 9 ) 1030 - 1038   2005.09

LF-006 Estimating the Number of Tracking Targets for Human Location Tracking Using Floor Pressure Sensors

Satoh Tetsu, Wada Toshikazu, Nakamura Takayuki

情報科学技術レターズ ( Forum on Information Technology )  4 ( 4 ) 103 - 104   2005.08

High Performance Control of Active Camera Head Using PaLM-Tree

T.Nakamura, Y.Sakata, T.Wada and H. Wu

IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2005     963-968   2005.08  [Refereed]

　View Summary

基本アルゴリズムの考案,実験, 検証

MDL基準に基づく区分的関数あてはめによる写像学習

上江洲吉美, 中村恭之, 和田俊和

画像の認識・理解シンポジウム(MIRU2005)     144 - 150   2005.07  [Refereed]

視点固定型パン・チルトステレオカメラによるリアルタイム3次元位置計測システム

飯塚健男, 和田俊和, 中村恭之, 加藤丈和, 吉岡悠一

画像の認識・理解シンポジウム(MIRU2005) デモセッション     1620 - 1621   2005.07  [Refereed]

識別器選択のための入力空間分割法に関する検討

林拓, 中村恭之, 和田俊和

画像の認識・理解シンポジウム(MIRU2005)     859 - 866   2005.07  [Refereed]

計画と実行の反復による車輪型移動ロボットの滑り運動学習

川原輝美, 中村恭之, 和田俊和

第10回ロボティクスシンポジア予稿集     405 - 409   2005.03  [Refereed]

MDL-based nonlinear regression tree

UEZU Yoshimi, NAKAMURA Takayuki, WADA Toshikazu

IEICE technical report. Natural language understanding and models of communication ( 社団法人電子情報通信学会 )  104 ( 667 ) 13 - 18   2005.02

　View Summary

In the previous work, we proposed the &quot;PaLM-Tree&quot; which is a kind of linear regression tree. It improves some drawbacks which the conventional linear regression tree method have. When it is applied for estimating a complex nonlinear mapping, it splits the input space into too much regions. In such case, the generalization performance of the PaLM-tree tends to be worse. In order to improve the generalization performance of the PaLM-tree, we proposed a MDL-based nonlinear regression tree. Instead of using linear regression functions, this method uses polynomial functions. Furthermore, it util...

Space Partitioning Method for Classifier Selection

HAYASHI Hiromu, NAKAMURA Takayuki, WADA Toshikazu

IEICE technical report. Natural language understanding and models of communication ( 社団法人電子情報通信学会 )  104 ( 667 ) 7 - 12   2005.02

　View Summary

Ensemble learing is a method for constructing a strong crassifier from multiple weak classifiers. In this method, the accuracy of the strong classifier is improved, however, the classification speed and memory consumption degenerate. This is because that the strong classifier requires outputs of all weak classifiers for a single input. Our approach consists of two ideas : decomposing the input space into boxes and selecting the best classifier for each box from a certain classifier set. In this approach, since a single classifier is selected for a single input, the classification speed is a...

1P2-S-067 High performance control of active camera head using PaLM-tree(Evolution and Learning for Robotics 3,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Sakata Yoshio, Nakamura Takayuki, Wu Haiyuan, Wada Toshikazu

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )  2005 ( 0 ) 133 - 133   2005

DOI

Regression Trees and Its Application to Classification Problems

Wada Toshikazu, Nakamura Takayuki

IPSJ SIG Notes. CVIM ( 一般社団法人情報処理学会 )  2004 ( 91 ) 203 - 210   2004.09

　View Summary

This paper presents evolutional history of regression trees, a novel regression tree called PaLM-tree, and its application to Computer Vision and Pattern Recognition problems. Regression tree is a tree representation of nonlinear function, which is mainly investigated in the fields of Machine Learning and Data Mining. The original regression tree is a simple tree representation holding function values at leaves (terminated nodes). Linear regression tree extends the function values to linear regression coefficients. Since these regression trees are designed for rule-extraction, most of them ...

Regression Trees and Its Application to Classification Problems

Wada Toshikazu, Nakamura Takayuki

Technical report of IEICE. PRMU ( 社団法人電子情報通信学会 )  104 ( 291 ) 33 - 40   2004.09

　View Summary

This paper presents evolutional history of regression trees, a novel regression tree called PaLM-tree, and its application to Computer Vision and Pattern Recognition problems. Regression tree is a tree representation of nonlinear function, which is mainly investigated in the fields of Machine Learning and Data Mining. The original regression tree is a simple tree representation holding function values at leaves (terminated nodes). Linear regression tree extends the function values to linear regression coefficients. Since these regression trees are designed for rule-extraction, most of them ...

回帰木を用いた非線形写像の学習と識別問題への応用

和田,中村

電子情報通信学会PRMU研究会資料 ( Information Processing Society of Japan (IPSJ) )  2004 ( 91 ) 203 - 210   2004.09  [Refereed]

　View Summary

This paper presents evolutional history of regression trees, a novel regression tree called PaLM-tree, and its application to Computer Vision and Pattern Recognition problems. Regression tree is a tree representation of nonlinear function, which is mainly investigated in the fields of Machine Learning and Data Mining. The original regression tree is a simple tree representation holding function values at leaves (terminated nodes). Linear regression tree extends the function values to linear regression coefficients. Since these regression trees are designed for rule-extraction, most of them are single valued for representing nonlinear scalar functions. PaLM-tree is a multi-valued extension of the linear regression tree with Split-and-Merge tree construction. PaLM-tree can be applied to varieties of nonlinear mapping learning problems. This paper also presents applications of PaLM-tree involving image segmentation, camera calibration and imitating classifiers.

I-067 Face Direction Estimation using Nonlinear Map Learning Algorithm "PaLM-tree"

Satoh Tetsu, Wada Toshikazu, Nakamura Takayuki

情報科学技術フォーラム一般講演論文集 ( Forum on Information Technology )  3 ( 3 ) 157 - 158   2004.08

カメラ同期・対応点の必要のない複数ステレオカメラのキャリブレーション法

飯塚 健男, 中村 恭之, 和田 俊和

知能メカトロニクスワークショップ講演論文集 ( 〔精密工学会〕 )  9   157 - 162   2004.08

ステレオカメラによるリアルタイム3次元位置計測システム

飯塚健男, 中村恭之, 和田俊和

画像の認識・理解シンポジウム(MIRU2004) デモセッション     312   2004.07  [Refereed]

Action planning of a wheeled mobile robot based on PaLM-tree

Kawahara T, Nakamura T, Wada T

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 )  2004   142 - 142   2004.06

3-D Position Estimation of Color Targets Using Stereo Camera

IIZUKA Takeo, NAKAMURA Takayuki, WADA Toshikazu

IPSJ SIG Notes. CVIM ( 一般社団法人情報処理学会 )  2004 ( 40 ) 65 - 70   2004.05

　View Summary

In the foregoing research of 3-dimensional depth measurement using stereo cameras, dense reconstruction of the object surface is mainly investigated. However, for the motion analysis and control of solid and/or articulated objects, it is sufficient to measure the 3-dimensional positions of several points on the object surfaces. In this paper, we propose a stereo camera system that estimates 3-dimensional position of multiple color targets in real time. We confirm the effectiveness of our system through the experiments that evaluate the performance of 3-dimensional position estimation.

非線形写像学習のためのPaLM-treeの提案とその応用

中村恭之, 加藤英介, 和田俊和

第9回ロボティクスシンポジア予稿集     360 - 366   2004.03  [Refereed]

画像情報と音情報から構成される状況提示システムに関する研究

中村恭之,堀内孝啓

文科省大大特プロジェクト 第2回国際シンポジウム論文集     387-392   2004.01  [Refereed]

機械学習法のロボットへの応用

中村恭之

日本機械学会 03-90講習会教材:知能情報メカトロニクス研究最前線,     33-42   2003.12

ロボカップ中型機リーグ : 2050年に向けてのロードマップ

高橋 泰岳, 松元 明弘, 中村 恭之

第4回 (社) 計測自動制御学会 システムインテグレーション部門 講演会概要集     3D5-3   2003.12

分散移動全方位視覚を用いた環境地図生成システムの開発(第1報)

中村恭之,堀内孝啓

第20回日本ロボット学会学術講演会資料集     3J14   2003.10

The New method for Generating a Map Based on the Interaction between a Robot's body and its Surrounding Environment

Uezu Yoshimi, Nakamura Takayuki, Wada Toshikazu

IPSJ SIG Notes. CVIM ( 一般社団法人情報処理学会 )  2003 ( 41 ) 145 - 152   2003.05

　View Summary

So far, many researchers insisted that an environmental map is useful for navigating the robot and for generating robot&#039;s behaviors. As a result, there have been a variety of method for constructing the environmental map. Most of them focused on extracting the geometrical structure of the environment from the sensor information. To realize various robot&#039;s behaviors which come from the dynamic interaction between the robot and its surrounding environment, the acquisition of the inherent information in the environment, such as dynamical property of the environment is indispensable in addition...

車輪型移動ロボットの身体性に基づく動的行動の獲得

中村,和田

第8回ロボティクスシンポジア予稿集     522-526   2003.03  [Refereed]

Toward Knowledge Propagation in an omnidirectional Distributed Vision System

E.. Menegatti, E. Pagello, T. Minato, T. Nakamura, H. Ishiguro

1st International Workshop on Advances in Service Robotics (ASER'03)     2003.03  [Refereed]

Do computer vision techniques make soccer robot strong?

NAKAMURA TAKAYUKI

IPSJ SIG Notes. CVIM ( Information Processing Society of Japan (IPSJ) )  2003 ( 2 ) 37 - 42   2003.01

　View Summary

In 1997, the first RoboCup competition was held. Small and middle-size robot league have been continued since 1997. In this paper, these two leagues are called the &quot;robot leagues&quot;. This paper introduces how CV techniques are currently used in the robot leagues and states future problems.

Map generation based on the interaction between robot body and its surrounding environment

T. Nakamura, Y. Uezu, H. Wu, T. Wada

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems ( Institute of Electrical and Electronics Engineers Inc. )  2003-   70 - 75   2003  [Refereed]

　View Summary

This paper presents a method for map generation based on the interaction between a robot body and its surrounding environment. While a robot moves in the environment, the robot interacts with its surrounding environment. If the effect of the environment on the robot changes, such interactions also change. By observing the robot's body, our method detects such change of the interaction and generates a description representing the type of change and the location where such change is observed. In the current implementation, we assume that there are two types of the change in the interaction. The real robot experiments are conducted in order to show the validity of our method.

DOI

Automatic 2D Map Construction using a Special Catadioptric Sensor

T. Nakamura and H. Ishiguro

Proc. of IROS2002     196 - 201   2002.10  [Refereed]

身体的アプローチに基づいたマン-マシンコミュニケーション生成には何が必要か?

寺田,中村,伊藤

SI2002講演論文集     3A51-04   2002.10

Behavior Acquisition Method based on Embodiment for

K. Terada, T. Nakamura, H. Takeda

Proc. of IROS2002     964--969   2002.10  [Refereed]

Current Technical Issues and Future Work in the Real Robot League of RoboCup

NAKAMURA Takayuki

Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  20 ( 1 ) 11 - 14   2002.01

DOI

Development of Adaptive Vision System

NAKAMURA Takayuki, MAEDA Tetsuhiro, OGASAWARA Tsukasa

電気学会研究会資料. SC, システム制御研究会   2001 ( 20 ) 31 - 34   2001.10

Omnidirectional Mobile Robot Navigation based on Omnidirectional Vision

NORIMATSU Yasuaki, TAKEMURA Kentaro, NAKAMURA Takayuki, OGASAWARA Tsukasa

電気学会研究会資料. SC, システム制御研究会   2001 ( 20 ) 25 - 29   2001.10

状態空間を更新する遺伝的プログラミング法によるサッカーエージェントの協調行動の獲得

中村恭之,山本哲也,小笠原司

第19回日本ロボット学会学術講演会予稿集     pp. 89-90   2001.09

Fast Self-Localization Method for Mobile Robots Using Multiple Ominidirectional Vision Sensors

NAKAMURA Takayuki, OHHARA Masahichi, OGASAWARA Tsukasa, ISHIGURO Hiroshi

IPSJ SIG Notes. CVIM ( 一般社団法人情報処理学会 )  2001 ( 4 ) 133 - 138   2001.01

　View Summary

In the multi-agent environment, it is important to identify position and orientation of multiple robots for accomplishing a given task in cooperative manner. This paper proposes a method for estimating position and orientation of multiple robots using multiple omnidirectional images based on geometrical constraints. Our method reconstruct not only relative configuration between robots but also absolute one usign the knowledge of landmarks in the environment. Even if there are some obstacles in the environment, our method can estimate relative configuration between robots based on the result...

Continuous valued Q-learning method able to incrementally refine state space

M Takeda, T Nakamura, T Ogasawara

IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 ( IEEE )    265 - 271   2001  [Refereed]

　View Summary

The conventional reinforcement learning method has trouble in applying to real robot tasks, because such method must be able to represent the values in terms of infinitely many state and action pairs. In order to represent a action value function continuously, a function approximation method is usually applied. In our previous work [1], we pointed out that this type of learning method potentially has a discontinuity problem of optimal actions given a state.
In this paper, we propose a method for estimating where discontinuity of optimal action takes place and for refining a state space incrementally. We call this method an continuous valued Q-learning (hereafter, CVQ-learning) method. To show the validity of our method, we apply the method to a simulated robot.

Towards Cognitive Agents: Embodiement based Object Recognition for Vision-Based Mobile Agents

Kazunori Terada, Takayuki Nakamura, Hideaki Terada, Tsukasa Ogasawara

Prof. of 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2000)     2067-2072   2000.11  [Refereed]

対象認識のための接触に基づく効用関数の生成 (小特集 身体性)

寺田 和憲, 中村 恭之, 小笠原 司

人工知能基礎論研究会 ( 人工知能学会 )  42   45 - 50   2000.09

複数の全方位画像を用いた実時間自己位置同定

大原 正満、海老名 明弘、中村 恭之、今井 正和、小笠原 司、石黒浩

第18回ロボット学会学術講演会予稿集     1225 - 1226   2000.09

Embodiment based Object Recognition

TERADA Kazunori, NAKAMURA Takayuki, TAKEDA Hideaki, OGASAWARA Tsukasa

Proceedings of the Annual Conference of JSAI ( 人工知能学会 )  14   508 - 511   2000.07

　View Summary

In order to keep visual tracking systems with color segmentation technique running in real environment, it should be developed on-line learning method to update models for adapting them to dynamic changes of surroundings.&lt;BR&gt;To deal with this problem, we propose an on-line visual learning method for color image segmentation and object tracking in dynamic environment. Our method utilizes Fuzzy ART architecture which is a kind of neural network for competitive learning. The mechanism of this neural network is suitable for on-line learning and different from that of backpropagation type neural...

複数の全方位画像を用いた実時間自己位置同定

海老名 明弘, 中村 恭之, 今井 正和, 小笠原 司

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 )  2A1-67-090   72 - 72   2000.05

　View Summary

複数の移動ロボットに搭載した全方位カメラを用いた実時間自己位置同定手法について述べる。各移動ロボットにおいて得られた全方位画像を床面上への画像に変換し, 線分を検出する。検出された線分とゴールの方向や位置情報を用いて定量的な自己位置同定を行う。複数のロボット間でこれらの情報を交換する事で, 各ロボットの自己位置やロボット間の相対的な位置関係を実時間で同定した。サッカーロボットを用いて行った実験結果について述べると共に, 問題点と今後の課題について述べる。

最適行動の不連続問題を考慮したContinuous Valued Q-learningの提案

武田政宣,中村恭之,今井正和,小笠原司,浅田稔

第5回ロボティクスシンポジア予稿     409 - 414   2000.03  [Refereed]

身体性に基づく環境モデリングと行動生成

寺田和憲,中村恭之,武田英明,小笠原司

第5回ロボティクスシンポジア予稿集     92 - 97   2000.03  [Refereed]

Toward a Visual Tracking System with On-Line Visual Learning Capability

NAKAMURA T.

Journal of Robotics Society of Japan   18 ( 7 ) 1047 - 1054   2000

Enhanced continuous valued Q-learning for real autonomous robots

M Takeda, T Nakamura, M Imai, T Ogasawara, M Asada

Proc. of Int. Conf. of The Society for Adaptive Behavior 2000 ( VSP BV )    195 - 202   2000  [Refereed]

DOI

Real-time estimating spatial configuration between multiple robots by triangle and enumeration constraints

T. Nakamura, A. Ebina, M. Imai, T. Ogasawara, H. Ishiguro

IEEE International Conference on Intelligent Robots and Systems   3   2048 - 2054   2000  [Refereed]

　View Summary

In the multi-agent environment, it is important to identify position and orientation of multiple robots for accomplishing a given task in cooperative manner. This paper proposes a method for estimating position and orientation of multiple robots using multiple omnidirectional images based on geometrical constraints. Our method reconstruct not only relative configuration between robots but also absolute one using the knowledge of landmarks in the environment. Even if there are some obstacles in the environment, our method can estimate absolute configuration between robots based on the results of self-localization of each robot.

DOI

ロボットサッカー研究のためのシミレーター開発

藤原広光,中村恭之,今井正和,小笠原司

第17回日本ロボット学会学術講演会予稿集     255 - 256   1999.09

RoboCup '98パリ大会

中村 恭之

Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  17 ( 5 ) 643 - 644   1999.07

DOI

A Nonholonomic Mobile Robot Navigation in Unknown Environment

FUJII Hirokazu, HIRANO Masatoshi, NAKAMURA Takayuki, MATSUMOTO Yoshio, IMAI Masakazu, OGASAWARA Tsukasa

電気学会研究会資料. SC, システム制御研究会   1999 ( 11 ) 35 - 40   1999.03

Mobile Robot Navigation in a Dynamic Environment using KL Expansion of Omnidirectional Images

SHIBATA Atsushi, NAKAMURA Takayuki, MATSUMOTO Yoshio, IMAI Masakazu, OGASAWARA Tsukasa

電気学会研究会資料. SC, システム制御研究会   1999 ( 11 ) 41 - 46   1999.03

色情報に基づくラベリング処理LSIの開発とその応用

秋田純一,渡辺晃,中村恭之,小笠原

第４回ロボティクスシンポジア予稿集     189 - 194   1999.03  [Refereed]

実時間競合学習モデルFuzzy ARTを用いたカラー画像の領域分割と追跡

中村恭之,小笠原司

第4回ロボティクスシンポジア     183 - 188   1999.03  [Refereed]

Why is cognitive robotics promising?

NAKAMURA Takayuki, SATO Tomomasa, KUNIYOSHI Yasuo, HIRAKI Kazuo, SHIBATA Tomohiro, ASADA Minoru, MACDORMAN Karl F, TANI Jun

Journal of the Robotics Society of Japan ( The Robotics Society of Japan )  17 ( 1 ) 38 - 43   1999.01

DOI

On-Line Visual Learning Method for Color Image Segmentation and Object Tracking

NAKAMURA T.

Proc. of IROS'99     222 - 228   1999  [Refereed]

システム同定アプローチに基づくロボット学習---移動ロボットの行動獲得問題への応用---

中村,小笠原,

第17回ロボット学会学術講演会予稿集     1007 - 1008   1999

システム同定アプローチに基づくロボット学習---視覚情報に基づく地図学習への応用---

中村,海老名,藤原,小笠原

ロボティクス・メカトロニクス講演会'99講演論文集   2P1-24-007   1999

On-Line Visual Learning Method for Color Image Segmentation and Object Tracking

NAKAMURA Takayuki

人工知能学会全国大会論文集 = Proceedings of the Annual Conference of JSAI   12   89 - 91   1998.06

ロボットサッカー研究のための安価な視覚移動ロボットの開発

中村恭之ほか

第3回JSMEロボメカ・シンポジア     89 - 91   1998

Development of Self-Learning Vision-Based Mobile Robots for Acquiring Soccer Robots Behaviors

T. Nakamura

Distributed Autonomous Robotic Systems 3, Springer-Verlag     101 - 110   1998  [Refereed]

Development of a Cheap On-board Vision Mobile Robot for Robotic Soccer Research

NAKAMURA T.

Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems 1998     431 - 436   1998  [Refereed]

ロボットサッカー研究のための安価な視覚移動ロボットの開発

中村恭之ほか

第3回ロボティクス・シンポジア     31 - 36   1998  [Refereed]

移動ロボットの誘導のためのステレオ視による環境表現

福西,中村,今井,小笠原

第16回日本ロボット学会学術講演会     1515 - 1516   1998

Self-organizing internal representation for behavior acquisition of vision-based mobile robots

NAKAMURA T.

Proceedings of the foruth International Conference on Simulation of Adaptive Behaivior : From Animals to Animats   5   104 - 113   1998  [Refereed]

Development of Self-Learning Vision-Based Mobile Robots for Acquiring Soccer Robots Behaviors

T. Nakamura

Proc. of IEEE Int. Conf. on Robotics and Automation     2592 - 2598   1998  [Refereed]

全方位画像情報に基づく非ホロノミック移動ロボットの誘導

藤井,中村,今井,小笠原

第16回日本ロボット学会学術講演会     797 - 798   1998

The RoboCup-NAIST: A Cheap Multisensor-Based Mobile Robot with On-Line Visual Learning Capability

Takayuki Nakamura

Proc. of RoboCup-98 Workshop     291 - 303   1998  [Refereed]

Development of Self-Learning Vision-Based Mobile Robots for Acquiring Soccer Robots Behaviors

T. Nakamura

The First Robot World Cup Soccer Games and Conferences 1997, Springer-Verlag     248 - 268   1997  [Refereed]

視覚移動ロボットのタスク達成のための状態空間の自律的構成手法

中村恭之

第15回ロボット学会学術講演会予稿集     139 - 140   1997

Correlation-Based Visual Tracking enhanced by Affine Motion Description

Adachi Yoshihisa, Nakamura Takayuki, Asada Minoru

IPSJ SIG Notes. CVIM ( Information Processing Society of Japan (IPSJ) )  96 ( 47 ) 101 - 106   1996.05

　View Summary

Tracking a target by conventional correlation-based algorithm with a single reference image often fails on the following situation: 1) a view of the target image changes. 2) a part of the target image is occluded. In this paper, we propose a method of correlation-based visual tracking enhanced by affine motion description. Multiple tracking windows are utilized for tracking a target. The motion of the tracked region is described by multiple motion vectors each of which obtained from each tracking window, and it is approximated by an affine motion model. Based on the estimated parameters of ...

Direct coupling of multisensor information and actions for mobile robot behavior acquisition

T. Nakamura, J. Morimoto, and M. asada.

Proc. of IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems     139 - 144   1996  [Refereed]

Correlation-based visual tracking enhanced by affine motion description

ADACHI Y.

Proc. Workshop on Machine Vision and Applications     75 - 78   1996  [Refereed]

Target Reaching Behavior Learning with Occlusion Detection and Avoidance for A Stereo Vision-Based Mobile Robot

M. Asada and T. Nakamura

Proc. of ROBOLEARN96: An International Workshop on Learning for Autonomous Robots     1996  [Refereed]

Behavior Acquisition via Vision-Based Robot Learning

M. Asada, T. Nakamura and K. Hosoda,

Robotics Research, The Seventh International Symosium, Springer     279 - 286   1996  [Refereed]

Stereo Sketch: Stereo Vision-Based Target Reaching Behavior Acquisition with Occlusion Detection and Avoidance

T. Nakamura and M. Asada

Proc. of IEEE Int. Conf. on Robotics and Automation     1314 - 1319   1996  [Refereed]

センサー系と行動系に基づいた移動ロボットの環境構造の獲得

高村,中村,浅田

第14回ロボット学会学術講演会予稿集     177 - 178   1996

Motion Sketch : Acquisition of Visual Motion Guided Behaviors

NAKAMURA Takayuki, ASADA Minoru

人工知能学会全国大会論文集 = Proceedings of the Annual Conference of JSAI   9   561 - 564   1995.07

How To Bring Up A One-Eyed Mobile Robo-Infant

T. Nakamura and M. Asada,

Proc. of Int. Workshop on Biologically Inspired Evolutionary Systems     1995  [Refereed]

画像運動情報に基づく単眼視覚移動ロボットの行動獲得

中村,浅田

第5回ロボットシンポジウム予稿集     1995  [Refereed]

Acquisition of Visual Motion Guided Behaviors

M. Asada and T. Nakamura

Proc. of Information Integration Workshop     1995  [Refereed]

ステレオ視覚を持つ移動ロボットの目標到達行動におけるオクルージョン回避行動の獲得

中村,浅田

第13回ロボット学会学術講演会予稿集     1995

Vision-Based Robot Learning for Behavior Acquisition

M. Asada, T. Nakamura, and K. Hosoda

Proc. of IROS95 Workshop on Vision for Robots     1995  [Refereed]

Motion Sketch: Acquisition of Visual Motion Guided Behaviors

T. Nakamura and M. Asada

Proc. of Int. Joint Conference on Aritificial Intelligence     1995  [Refereed]

視覚を持つ移動ロボットの障害物回避行動の獲得

中村,浅田,細田

第12回日本ロボット学会学術講演会予稿集     409 - 410   1994

Cylindrical Shape from Contour and Shading without Knowledge of Lighting Conditions or Surface Albedo

ASADA Minoru, NAKAMURA Takayuki

IPSJ Journal ( Information Processing Society of Japan (IPSJ) )  34 ( 5 ) 884 - 891   1993.05

　View Summary

This paper presents and algorithm for reconstructiong the shape of a cylindrical object from contour and shading without knowing the surface albedo of the object of the lighting conditions of the scene. Input image is segmented into spherical, cylindrical, or planar surfaces by analyzing local shading. The cylindrical surface is characterized with a direction of generationg lines determined from spatial derivatives in the image. The brightest generating line has strong constraints on both the shading analysis on the cylindrical surface and a simplification of the equation which represents the relation between the contour shape and shading. Although there remains one degree of freedom between the surface normal of the base plane and the slant angle of the generating line, we can uniquely recover the cylindrical shape from this solution. Experimental results for both synthetic and real images are shown.

A qualitative approach to quantitative recovery of shgc's shape and pose from shading and contour

Takayuki Nakamura, Yoshiaki Shirai, and Minoru Asada

Proceeding of IEEE Computer Society Conference on CVPR     116 - 122   1993  [Refereed]

Weak Lambertian Assumption for Determining Cylindrical Shape and Pose from Shading and Contour

ASADA M.

Proc. of CVPR '92     726 - 729   1992  [Refereed]

A qualitative approach to quantitative recovery of Cylindrical Shape, Pose and Illuminant Condition from Shading and Contour

NAKAMURA T.

Proc of IROS'92     1223 - 1230   1992  [Refereed]