Published Papers - MARU Noriaki

Control of Eye-And-Hand robot arm by visual space based visual servoing

Ryohei HIROSE, Noriaki MARU （Part： Last author,　Corresponding author )

Transactions of the JSME   908 ( 88 ) 1 - 12   2022.03  [Refereed]

DOI

Position and Attitude Control of Eye-In-Hand System by Visual Servoing using Binocular Visual Space

Atsushi Ozato, Noriaki Maru

2014 WORLD AUTOMATION CONGRESS (WAC): EMERGING TECHNOLOGIES FOR A NEW PARADIGM IN SYSTEM OF SYSTEMS ENGINEERING ( IEEE )    2014  [Refereed]

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We propose the 3D position and attitude control method of Eye-in-Hand System by visual servoing using Binocular Visual Space. The position of the target is estimated based on the linear approximation between translational motion space and binocular visual space. The attitude of the target is also estimated by the linear approximation between rotational motion space and posture binocular visual space. The proposed method is robust to calibration error of camera angles, because it does not use camera angles to calculate feedback command for translational and rotational velocity. Simulation results are presented to demonstrate the effectiveness of the proposed method.

Gait of Quadruped Robot including Positioning Control using Linear Visual Servoing

Y.Inoue, N.Maru （Part： Corresponding author )

International Journal of Automation Technology   5 ( 5 ) 649 - 654   2011.09  [Refereed]

Linear Visual Servoing-Based Control of the Position and Attitude of Omnidirectional Mobile Robots

A.Ozato, N.Maru （Part： Corresponding author )

International Journal of Automation Technology   5 ( 4 ) 569 - 574   2011.07  [Refereed]

Guidance and Control of Nursing Care Robot using Gaze Point Detector and Linear Visual Servoing

A.Imasato, N.Maru （Part： Corresponding author )

International Journal of Automation Technology   5 ( 3 ) 452 - 457   2011.05  [Refereed]

Development of a Low Cost Fast Stereo Vision System using CMOS Imagers and DSP

M.Yamashita, N.Maru （Part： Corresponding author )

International Journal of Automation Technology   5 ( 3 ) 445 - 451   2011.05  [Refereed]

視空間誤差を用いた仮想バネダンパ仮説に基づくダイナミックビジュアルサーボによるEye-In-Hand型ロボットの位置姿勢制御

松浦精太郎, 丸 典明 （Part： Corresponding author )

日本機械学会誌論文集(C)   077 ( 776 ) 1366 - 1375   2011.04  [Refereed]

CMOS撮像素子とDSPを用いた組み込み用途向けのローコストな高速ステレオビジョンシステムの開発

山下 真, 丸 典明 （Part： Corresponding author )

日本機械学会論文集(C)   077 ( 773 ) 158 - 165   2011.01  [Refereed]

Control of 6 DOF Arm of the Humanoid Robot by Linear Visual Servoing

Yusaku Shibuya, Noriaki Maru

ISIE: 2009 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS ( IEEE )    1774 - 1779   2009  [Refereed]

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This paper proposes a position and posture control method of the 6 DOF arm of the Humanoid Robot by Linear Visual Servoing. It is based on the linear approximation of the forward kinematics which has a similar kinematic structure as a human being. Forward kinematics is the transformation from joint space to binocular visual space. Pseudo inverse matrix of the 3 linear approximation matrices of the 3 points makes it possible to realize position and posture control of 6 DOF arm by Linear Visual Servoing. It is very robust to calibration error of camera angles, because it uses neither camera angles nor joint angles to calculate feedback command. Furthermore, the amount of calculation is very small compared to the conventional visual servoing schemes. Although the conventional 6 DOF arm control methods based on pseudo inverse matrix need non-linear complex calculation using joint angle, the proposed method does not need it. Simulation results are presented to demonstrate the effectiveness of the proposed method.

線形ビジュアルサーボによる移動ロボットの追従制御

岡本, 山口, 丸 （Part： Corresponding author )

日本機械学会論文集(C)     72 - 718   2006.06  [Refereed]

Redundant arm control by linear visual servoing using pseudo inverse matrix

Satoshi Mukai, Noriaki Maru

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12 ( IEEE )    1237 - 1242   2006  [Refereed]

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We proposed a simple visual servoing scheme called linear visual servoing (indicated as LVS). It is based on the linearity of the transformation from binocular visual space to joint space of the arm of the humanoid robot which has a similar kinetic structure as a human being. LVS is very robust to calibration errors, especially to camera angle errors, because it uses constant Jacobian matrix with neither camera angles nor joint angles to calculate feedback command. Furthermore, the amount of calculation is very small compared to conventional visual servoing schemes. Hence, it is especially suitable for humanoid robots which use active stereo vision. But conventional LVS can not deal with redundant arm, because it is based on linear approximation of inverse kinematics. In this paper, we propose a redundant arm positioning control method by linear visual servoing based on linear approximation of forward kinematics. Simulation and experimental results are presented to demonstrate the effectiveness of the proposed method.

Visual servoing based on coarse optical flow

Takashi Mitsuda, Yoji Miyazaki, Noriaki Maru, Karl F. MacDorman, Atsushi Nishikawa, Fumio Miyazaki

IFAC Proceedings Volumes ( Elsevier BV )  32 ( 2 ) 539 - 544   1999.07

DOI

粗いオプティカルフローを用いた高精度な位置決めビジュアルサーボ

満田 隆, 宮崎陽司, 丸 典明, 宮崎文夫 （Part： Last author )

日本ロボット学会誌   17 ( 2 ) 71 - 77   1999.03  [Refereed]

キャリブレーションエラーのあるステレオカメラにおける逆透視変換 不可能面の解析とビジュアルサーボの安定性

富士川 和延, 丸 典明, 宮崎文夫 （Part： Last author )

日本ロボット学会誌   16 ( 7 ) 150 - 152   1998.10  [Refereed]

Precise planar positioning using visual servoing based on coarse optical flow

T Mitsuda, Y Miyazaki, N Maru, KF MacDorman, F Miyazaki

1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3 ( IEEE )    712 - 717   1998  [Refereed]

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In the drive towards miniaturization in manufacturing, accuracy in positioning minute objects by camera is vital For visual servoing, the rapid and robust detections of features in camera images is also essential to production line efficiency. Template matching provides flexibility in achieving this, often lacked by other methods, because it avoids the need to set object-specific parameters. Unfortunately, standard methods of template matching require much calculation, especially for detecting feature rotation. The delay this causes means that for many applications template matching provides too slow a source of visual feedback. As apr alternative, we propose a new method of detecting the translation and rotation of a feature from coarse optical flow, we and apply it to visual servoing. Coarse optical flow is derived from the difference in intensity between a region of the initial and current image and their pixel-by-pixel intensity gradients. Unlike template matching, our method can detect large rotations with relatively little calculation. Image resolution is then adjusted from coarse to fine. Sub-pixel accuracy results in a 100 fold improvement in precision (by area). We show experimental results for precise planar positioning.

Reconstruction of Object Surfaces by using Occlusion Information from Active Stereo Vision

西川 敦, 小川晋平, 丸 典明, 宮崎文夫 （Part： Last author )

Systems and Computeres in Japan   28 ( 9 ) 86 - 97   1997.10  [Refereed]

Reconstruction of object surfaces by using occlusion information from active stereo vision

Atsushi Nishikawa, Shinpei Ogawa, Noriaki Maru, Fumio Miyazaki

Systems and Computers in Japan   28 ( 9 ) 86-97 - 97   1997.08

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With robots moving in an unknown 3D environment, it is necessary to work out a method for reconstruction of surface structures (that is, where a surface is present and where there is a free space). In this paper, a method is proposed to recover surfaces by means of active moving of a stereo camera. First, the surface structure of the environment under consideration is represented by a set of virtual 3D segments (arcs) obtained by connecting edge points that lie on the same epipolar line; then the 3D position information and occlusion information acquired by active moving of the stereo camera are used to decide if a physical surface exists between the arcs. Using surface structures that have been so far recovered, camera location that offers the best results in surface reconstruction is predicted, and the camera is moved to this new location to obtain more precise results. The proposed method offers a way to select view-points that ensure efficient surface reconstruction, which has not been discussed in any previous study. Experiments showed that the proposed method offers correct reconstruction of object surfaces with a small number of measurements. © 1997 Scripta Technica, Inc.

DOI

網膜と皮質間の写像関係に基づく両眼追跡

大城直紀, 丸 典明, 西川 敦, 宮崎文夫 （Part： Last author )

システム制御情報学会論文誌   10 ( 6 ) 287 - 296   1997.01  [Refereed]

視空間を用いたビジュアルサーボイング

満田 隆, 丸 典明, 冨士川和延, 宮崎文夫 （Part： Last author )

計測自動制御学会論文誌   33 ( 1 ) 35 - 41   1997.01  [Refereed]

Foveated vision for scene exploration

Naoki Oshiro, Atsushi Nishikawa, Noriaki Maru, Fumio Miyazaki

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   1351   256 - 263   1997

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In this paper, foveated vision for scene exploration is implemented. The peripheral and central vision are the basic capabilities of foveated vision. The informations obtained from the peripheral vision are used to determine the next gaze point. Due to the low resolution of the periphery, however, the determination is not always appropriate. To solve this problem, we propose to evaluate the target object by the central vision after gazing. We implement foveated vision based on the Log Polar Mapping (LPM) and construct an evaluation scheme of the target object in the central vision using LPM rotational-invariance. The peripheral vision is realized by Zero Disparity Filter for LPM stereo images. Some experimental results are Mso shown to demonstrate the effectiveness of the proposed method.

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