研究者詳細 - 床井　浩平

論文 - 床井　浩平

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A Virtual Reality System for Predictive Display Functionality in a Telexistence-Controlled SEED-Noid Humanoid Robot with Evaluation of VR Sickness

Suda, Taiga, Yodowatari, Motoki, Kosaki, Sosuke, Yokoyama, Koki, Yanagisawa, Eito, Oyama, Eimei, Tokoi, Kohei, Okada, Hiroyuki, Agah, Arvin, Nakamura, Sousuke

2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 2023年08月 [査読有り]

Augmented reality and mixed reality behavior navigation system for telexistence remote assistance

Eimei Oyama, Kohei Tokoi, Ryo Suzuki, Sousuke Nakamura, Naoji Shiroma, Norifumi Watanabe, Arvin Agah, Hiroyuki Okada, Takashi Omori

Advanced Robotics ( Informa UK Limited ) 35 ( 20 ) 1223 - 1241 2021年10月 [査読有り]

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ステレオ遠隔作業支援システムによる遠隔押印の研究

淀渡元貴, 床井浩平, 大山英明, 中村壮亮

第26回バーチャルリアリティ学会大会論文集 2021年09月

Integrating AR/MR/DR technology in remote seal to maintain confidentiality of information

Eimei Oyama, Motoki Yodowatari, Sousuke Nakamura, Kohei Tokoi, Arvin Agah, Hiroyuki Okada, Takashi Omori

Advanced Robotics ( Informa UK Limited ) 35 ( 11 ) 704 - 714 2021年05月 [査読有り]

DOI

Compositing real and synthetic images: Using kinect and fisheye camera

Jiulin Lin, Kohe Tokoi

Proceedings - NICOGRAPH International 2016, NicoInt 2016 ( Institute of Electrical and Electronics Engineers Inc. ) 154 2016年09月 [査読有り]

The techniques of compositing real and synthetic images until now, just can only replace the lighting conditions synthetic images because it is based on the lighting conditions of real world. This paper shows the way to solve it by using Fisheye camera and Kinect. We use Kinect to reconstruct 3D-model of real object. Then we get the irradiance on the real object surface using the fisheye camera and estimate its albedo. By using the 3D-model and albedo, as result we replaced lighting conditions in real-time.

DOI

Boidsを用いたインタラクティブに操作可能な桜の落花アニメーションの生成手法(CG,映像表現・芸術科学フォーラム2016)

高橋拓也, 床井浩平

映像情報メディア学会技術報告 ( 一般社団法人映像情報メディア学会 ) 40 33 - 36 2016年

落花や落ち葉の軽量物の落下運動は重力以外の要素として大きく空気の抵抗を受ける.その結果,落花運動は不規則な運動となる.従来手法では落花運動は物理シミュレーションにもとづくモデルによって表現され,現実世界の動きを再現したものが多数であった.これらの手法の問題点として,シミュレーションの遅さ,制御可能性の低さが挙げられる.しかしながら,落花運動のアニメーションは映像表現においてはシーンに対し情感を付加するために用いられることが多く,それらはデザイナーによって表現される.よって,前述の二点の問題点を解決する必要がある.本研究では落花群の運動に対しBoidsを用いることにより,軽量でインタラクティブに落花経路の制御,編集を行うことが可能なモデルを開発した.

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ポテンシャル法による地形戦術を活用した大規模歩兵戦闘の自律的行動生成(CG,映像表現・芸術科学フォーラム2016)

吉良俊哉, 床井浩平

映像情報メディア学会技術報告 ( 一般社団法人映像情報メディア学会 ) 40 41 - 44 2016年

ビデオゲームにおいて,キャラクター同士の戦闘は一般的である.戦場を舞台とするゲームであればプレイヤーを含まない多数のアバター同士の戦闘による,臨場感ある戦場を演出する必要がある.本研究ではポテンシャル法を利用し,リアルタイムに群集同士の歩兵戦闘を自動生成する.また本手法では,戦場の地形を活用した戦闘における戦略性の表現が可能なモデルの提案を行っている.提案手法として,地形戦術はアフォーダンス理論に基づいて,地形自身をアフォーダンスとして戦略や戦術の情報を有する.アバターはその環境から提示される情報を含めて次の行動を決定する.

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Real-Time Rendering of Subsurface Scattering According to Translucency Magnitude

Hiroyuki Kubo, Kohe Tokoi, Yasuhiro Mukaigawa

SIGGRAPH '15 ( ACM ) 2015年07月 [査読有り]

DOI

大学教員の専門知識と地域の学習

床井浩平

和歌山大学地域連携・生涯学習センター紀要・年報 ( 和歌山大学地域連携・生涯学習センター ) 13 ( 13 ) 15 - 18 2014年12月

粒子法による雨染みのシミュレーションのGPUによる高速化

田中将貴, 床井浩平 (担当区分：最終著者,　責任著者 )

芸術科学会論文誌 12 ( 3 ) 124 - 131 2013年09月 [査読有り]

拡張現実感を用いた様々な光源環境下における対数美的曲面の再現に関する研究

平野亮, 原田利宣, 床井浩平

情報処理学会論文誌 ( 情報処理学会 ) 53 ( 8 ) 2028 - 2035 2012年08月 [査読有り]

本研究では，拡張現実感により現実空間における光源環境を再現し，その中で対数美的曲面をシミュレーションするシステムを開発した．具体的には，精密な拡散反射色で曲面の映り込みを再現するため，金属半球に反射した光源環境を球面調和解析した結果を用いてレンダリングを行った．また，開発したシステムを用いて，様々な光源環境下（晴天，曇天，夕日）における曲面の印象の違いに関する評価実験を行い，光源環境が曲面の印象に与える影響を明確にした．In this study, we developed a simulation system that reproduced the light source environment in a real world with Augmented Reality, and simulated log-aesthetic curved surfaces in the system. Concretely, this system renders the curved surfaces using the result of spherical harmonics analysis of the light source environment image that is reflected on the metallic hemisphere in order to reproduce the diffuse reflection of the curved surface. Moreover, we experimented in the impression evaluation of the curved surfaces under various environments (fine, cloudy, and evening sun, etc.) with the developed systems and clarified the influence of the light source environment to the impression of curved surfaces.

Particle Based Skinning

Kohe Tokoi, Shingo Komiya (担当区分：筆頭著者,　責任著者 )

PROCEEDINGS OF THE 2009 SIXTH INTERNATIONAL CONFERENCE ON COMPUTER GRAPHICS, IMAGING AND VISUALIZATION ( IEEE COMPUTER SOC ) 32 - + 2009年 [査読有り]

When deforming a shape by skinning in character animation, we may encounter unexpected results such as surface collapse and shape shrinkage. In this article, we propose an improved skinning method that preserves volume through deformation and prevents such shape contraction by using particles that have interaction forces affecting each other. In this method, the interaction forces working among the particles enable them to keep a constant distance from each other, and the volume is mostly preserved because the number of particles is unchanged during deformation. The particles are associated with fixed points on a skeleton, and their position and motion are controlled as if they adhere to the skeleton. Vertex positions on a surface of the shape are then fixed according to an arrangement of particles to generate the deformed object shape. We compare the deformation result of the proposed method with the result of the skinning using conventional vertex blending and show the validity of the proposed method.

DOI

The planetary simulator for understanding planetary phenomena by multiple viewpoints

Masato Soga, Kohe Tokoi, Yasunori Nakanishi

International Journal of Advanced Intelligence Paradigms 1 ( 2 ) 211 - 223 2008年04月 [査読有り]

We developed the planetary simulator that is able to simulate astronomical phenomena in the solar system. It can simulate planets' revolutions around the sun fixing viewpoint on another planet. The planetary simulator also supports viewpoint guiding function for self-learning. Moreover, the planetary simulator shows a small dynamic guide map that shows current learner's viewpoint, target and scope. Also, we developed the function by which a learner can perform the virtual experiment in the simulator to understand Kepler's laws of planets' revolutions. Finally, we evaluated viewpoint guidance function by comparing with CG animation of Mercury's transit in front of the sun. Copyright © 2008 Inderscience Enterprises Ltd.

DOI

The planetary simulator for generalized understanding of astronomical phenomena from various viewpoints

Masato Soga, Yasunori Nakanishi, Kohe Tokoi

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 5179 ( 3 ) 596 - 603 2008年 [査読有り]

We developed the planetary simulator that is able to simulate astronomical phenomena in the solar system. The planetary simulator can set not only target planet but also the planet of viewpoint. It can simulate planets' revolutions around the sun fixing viewpoint on another planet. Therefore it can help generalized understanding of wax and wane of inner planets. The planetary simulator also supports viewpoint guiding function for self-learning. Moreover, the planetary simulator shows a small dynamic guide map that shows current learner's viewpoint, target and scope. Finally, We developed the function by which a learner can perform the virtual experiment in the simulator to understand Kepler's laws of planets' revolutions. © 2008 Springer-Verlag Berlin Heidelberg.

DOI

The learning environment for stars and constellations in the real world with finger pointing

Masato Soga, Masafumi Miwa, Koji Matsui, Kazuki Takaseki, Kohei Tokoi, Hirokazu Taki

Proceedings - 2nd IEEE International Conference on Digital Game and Intelligent Toy Enhanced Learning, DIGITEL 2008 160 - 166 2008年 [査読有り]

We developed learning environment for stars and constellations with finger pointing under real night sky. This environment has some functions. First function is star name telling function. When a learner points a finger at a star with the sensor on his/her finger top, the system tells him/her name of the star and constellation with voice. Then, second function is star navigation function. If the learner know the name of a star, but he/she does not know where it is in the real sky, the system shows the path from current pointing position to the target star. These two basic functions can be used by single learner, but also used collaborative learners. Third function is constellation tutoring function. The system asks questions about stars and constellations to learners. A learner answers the question by pointing at real star, and then the system corrects it. This function can be used for collaborative learners. Fourth function is collaborative focus point indication. Every learner uses each learning environment for his/her own, and every learning environment communicates each other. Every environment indicates the other learner's pointed star. Learners can know easily where the other learner points a finger at in the sky, and collaborate learning easily. © 2008 IEEE.

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積雪形状のリアルタイムモデリング

床井浩平, 森木大樹 (担当区分：筆頭著者 )

情報処理学会論文誌 ( 一般社団法人情報処理学会 ) 47 ( 5 ) 1558 - 1565 2006年05月 [査読有り]

コンピュータグラフィックスにおいて自然現象や自然物体を表現することは，シーンの現実感を向上させるのに有効な手段である．なかでも積雪の表現は，季節感を表すのに重要な役割を果たす．しかし，任意のシーンを覆う雪の形状（積雪形状）の人手によるモデリングは非常に手間のかかる作業となる．このためシミュレーションなどによって，自動的に積雪形状を求められることが望ましい．本論文では，降雪を妨げる遮蔽物の有無や降下する雪の不規則な動き，および積雪後の雪の移動を考慮した，積雪形状の高速なモデリング手法を提案する．この手法は遮蔽物の検出と雪の不規則な動きの影響の算出にシャドウマップ法を用い，着地した雪を安定な位置へ移動させることによって最終的な積雪形状を決定する．本手法は降雪により刻々と変化する積雪形状を，リアルタイムに再現可能である．It is effective for improving the reality of computer graphics to display a natural phenomenon and a natural object. Especially, display of snow coverage plays a role important for expressing a sense of the season. However, since a geometric modeling of the shape of snow which covers arbitrary scenes by hand is the work which requires time and effort, it is desirable that snow covered shape can be automatically obtained by the simulation. This paper proposes the high-speed modeling method of snow covered shape. This method takes the following condition into consideration: a blocking of snowfall by another object, an influence of an irregular motion of falling snow, and a movement after landing of snow. This method applies the shadow buffer method to detect an obstacle, and calculate the influence of an irregular motion of snow, then determine final snow coverage shape by moving the snow to a stable position. This technique can reproduce the snow coverage shape which changes with snowfall every moment on real time.

A shadow buffer technique for simulating snow-covered shapes

Kohe Tokoi (担当区分：筆頭著者,　最終著者,　責任著者 )

Proceedings - Computer Graphics, Imaging and Visualisation: Techniques and Applications, CGIV'06 2006 310 - 316 2006年 [査読有り]

Displaying a natural phenomenon is effective for improving the reality of computer graphics. A display of snow especially plays an important role in expressing a sense of the season. However, since geometric modeling of the various shapes of snow by hand is very troublesome, it is desirable that snow coverage shapes be automatically generated by simulation. This paper proposes a high-speed modeling technique of snow coverage. This technique takes account of the following three conditions: "snowfall blocked by an object," "irregular motion of falling snow," and "drifting snow." It applies the shadow buffer method to detect an object which blocks snowfall, calculates the influence of irregular motion of snow, and then determines the final snow-covered shape by moving the snow to a stable position. © 2006 IEEE.

DOI

IT時代の地域産業(第49回研究発表和歌山大会オーガナイズドセッション2nd Session : IT時代の地域産業)(第1部)

原田利宣, 島光博, 原博之, 床井浩平

デザイン学研究特集号 ( 一般社団法人日本デザイン学会 ) 11 ( 1 ) 3 - 30 2003年 [査読有り]

DOI

An improved scan-line algorithm for display of CSG models

K Tokoi, T Kitahashi (担当区分：筆頭著者 )

FIFTH INTERNATIONAL CONFERENCE ON INFORMATION VISUALISATION, PROCEEDINGS ( IEEE COMPUTER SOC ) 1 477 - 482 2001年 [査読有り]

A scan-line algorithm uses a one-dimensional set operation instead of a depth comparison to find a visible surface of the object shape defined by Constructive Solid Geometry (CSG). Interactive solid modelers employing a scan-line algorithm require considerable computing time in repeated construction and destruction of parts of the CSG object models during the design process.
In this paper we discuss 3 steps to improve a scan-line algorithm to display the CSG models on a screen. First, changing the order of application of the partial procedures in the algorithm can improve the performance in the interactive modelers. Secondly, substituting set operations for simple manipulations of the elements in two kinds of lists reduces computing time. Finally, using the connection information at the adjoining facets drastically reduces the number of set operation executions.

分散ネットワーク環境における技術相談のための画像QoS設定機能

井口信和, 床井浩平, 内尾文隆

情報処理学会論文誌 ( 一般社団法人情報処理学会 ) 41 ( 9 ) 2651 - 2660 2000年09月 [査読有り]

本論文では，狭帯域回線上での動画像通信による遠隔技術相談システムのための画像QoS設定機能を提案する．提案する機能では，1画面を注目領域と非注目領域に分け，それぞれの領域について異なるQoSを設定する．本研究では，変化の大きな画像による遠隔技術相談に対応するために，条件付画素補充方式の設定をQoSの項目とする．提案する機能により，変化の大きな画像による遠隔技術相談においても，注目領域の画像のQoSを確保した狭帯域回線上での動画像通信が可能となる．この機能を遠隔技術相談用ビデオツールに実装し，機能を評価するために実際の技術相談事例を用いた実験を行った．実験結果より，提案した機能が良好に働き，遠隔技術相談に有効であることを確認した．This paper proposes an image QoS function for Remote Technical Consultation System using video communication over narrow bandwidth network. The proposed function divides an image into a region of interest and a region of no interest, and sets different QoS for each regions. In this research, for remote technical consultation by using video images that have large change, a method of conditional replenishment is defined as QoS. Using the proposed function, users can transmit the region of interest with satisfied QoS over narrow bandwidth network. We experimented on remote technical consultation about concrete samples of technical consultation. From experimental results, we verified that the proposed function worked finely and the proposed function was efficient for remote technical consultation over narrow bandwidth network.

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