Published Papers - MARU Noriaki

Binocular visual servoing based on linear time-invariant mapping

T Mitsuda, N Maru, K Fujikawa, F Miyazaki

ADVANCED ROBOTICS ( VSP BV )  11 ( 5 ) 429 - 443   1997  [Refereed]

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We propose a simple visual servoing scheme based on the use of binocular visual space. When we use a hand-eye system which has a similar kinematic structure to a human being, we can approximate the transformation from a binocular visual space to a joint space of the manipulator as a linear time-invariant mapping. This relationship makes it possible to generate joint velocities from image observations using a constant linear mapping. This scheme is robust to calibration error, especially to camera turning, because it uses neither camera angles nor joint angles. Some experimental results are also shown to demonstrate the positioning precision remained unchanged despite the calibration error.

視空間を用いた逆運動学の線形近似

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

日本ロボット学会誌   14 ( 8 ) 1145 - 1151   1996.10  [Refereed]

逆運動学の線形近似に基づくビジュアルサーボ

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

日本ロボット学会誌   14 ( 5 ) 743 - 750   1996.08  [Refereed]

Binocular tracking using log polar mapping

N Oshiro, N Maru, A Nishikawa, F Miyazaki

IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3 ( I E E E )    791 - 798   1996  [Refereed]

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This paper describes a new binocular tracking method using Log Polar Mapping (LPM) which approximately represents the mapping of the retina into the visual cortex in primate vision. Using LPM makes it possible not only to obtain both a high central resolution and a Wide field of view, but also to significantly reduce processing image data. In this paper, LPM is performed in software by lookup table method, Our tracking method utilizes zero disparity filter (ZDF) for extracting the target object and virtual horopter method for estimating binocular disparities, respectively. The performance of both target extraction and disparity estimation is improved in comparison With the conventional methods, by using LPM. Some experimental results are also shown to demonstrate the effectiveness of the proposed method.

Visual servoing based on the use of binocular visual space

Takashi Mitsuda, Noriaki Maru, Kazunobu Fujikawa, Fumio Miyazaki

IEEE International Conference on Intelligent Robots and Systems ( IEEE )  3   1104 - 1111   1996

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We propose a simple visual servoing scheme based on the use of binocular visual space. When we use a hand-eye system which has a similar kinematic structure to a human being, we can approximate the transformation from a binocular visual space to a joint space of the manipulator as a linear time-invariant mapping. This relationship makes it possible to generate joint velocities from image observations using a constant linear mapping. This scheme is robust to calibration error, especially to camera turning, because it uses neither camera angles nor joint angles. Some experimental results are also shown to demonstrate the positioning precision remained unchanged despite the calibration error.

アクティブなステレオ視覚からの隠れ情報に基づ く面構造の復元

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

電子情報通信学会誌   79 ( 2 ) 153 - 164   1995.12  [Refereed]

Detecting object surfaces by using occlusion information from active binocular stereo

A NISHIKAWA, S OGAWA, N MARU, F MIYAZAKI

PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3 ( I E E E )    2974 - 2981   1995  [Refereed]

Binocular gaze holding of a moving object with the active stereo vision system

Maki Tanaka, Noriaki Maru, Fumio Miyazaki

IEEE Workshop on Applications of Computer Vision - Proceedings ( IEEE )    250 - 255   1994

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We present a binocular gaze holding method of an object which is moving in the complicated scene with the Active Stereo Vision System. The system uses binocular vision robot, which can simulate the human eye movements. Holding gaze on an target object with the controlled cameras keeps the target's stereo disparity small, and simplify the visual processing to locate the target for pursuit control. The novel point of our tracking method is the disparity-based segmentation method of the target object. The method utilizes zero disparity filter (ZDF) and correlation to separate the target object with small disparity from distracting background. Furthermore, using correlation method to estimate stereo disparity makes it possible to fixate on a surface of the target object. We show the experimental results with the complicated scene to demonstrate the effectiveness of the proposed method.

3-D TRACKING OF A MOVING OBJECT BY AN ACTIVE STEREO VISION SYSTEM

M TANAKA, N MARU, F MIYAZAKI

IECON '94 - 20TH INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL AND INSTRUMENTATION, VOL 1-3 ( IEEE )    816 - 820   1994  [Refereed]

Detection of Occluding Contours by Using Active Stereo Vision

NISHIKAWA Atsushi, MARU Noriaki, MIYAZAKI Fumio （Part： Last author )

The Transactions of the Institute of Electronics,Information and Communication Engineers. ( The Institute of Electronics, Information and Communication Engineers )  76 ( 8 ) 1654 - 1666   1993.08  [Refereed]

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球の輪郭線や円柱の側面のように,視点位置に依存して生成される輪郭線(=輪郭生成線)の像を隠れ輪郭と呼ぶ.隠れ輪郭には物体表面を記述するための多くの有益な情報が含まれている.本論文では.ステレオカメラをアクティブに運動させることにより曲面の隠れ輪郭を検出する一方法を提案する.まず,物体表面と隠れ輪郭の幾何学的関係を記述するモデル(隠れ輪郭モデル)を導出する.カメラのアクティブな移動によって生じる像の動きをこのモデルに当てはめると,もう一方のカメラにおける対応点の存在範囲を拘束することができる.この幾何学的拘束に基づいて各画像間でステレオ対応付けを行い,得られた対応点の系列をモデルに最小2乗フィッティングさせることによって画像中の隠れ輪郭を検出する.本論文で示す方法では,隠れ輪郭のモデルを直接利用してステレオ対応処理を行っているために,モデルを用いない方法や発見的拘束を用いる従来の手法に比べて,より正確に隠れ輪郭を検出することができる.また,隠れ輪郭近傍の局所3次元形状をモデルから容易に推定することができるという利点もある.人工画像ならびに実画像を用いたいくつかの実験により提案する手法の有効性を示している.

ステレオ視によるマニピュレータのビジュアルサーボ

加瀬 裕, 丸 典明, 西川 敦, 宮崎文夫 （Part： Corresponding author )

システム制御情報学会誌   6 ( 8 ) 360 - 367   1993.07  [Refereed]

アクティブなカメラ運動による両眼視差の検出

丸 典明, 西川 敦, 宮崎文夫, 有本 卓 （Part： Lead author )

日本ロボット学会誌   11 ( 2 ) 272 - 280   1993.03  [Refereed]

ACTIVE BINOCULAR STEREO

N MARU, A NISHIKAWA, F MIYAZAKI, S ARIMOTO

1993 IEEE COMPUTER SOCIETY CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION : PROCEEDINGS ( I E E E, COMPUTER SOC PRESS )    724 - 725   1993  [Refereed]

MANIPULATOR CONTROL BY VISUAL SERVOING WITH THE STEREO VISION

N MARU, H KASE, S YAMADA, A NISHIKAWA, F MIYAZAKI

IROS 93 : PROCEEDINGS OF THE 1993 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOL 1-3 ( I E E E )    1866 - 1870   1993  [Refereed]

VISUAL SERVOING OF THE MANIPULATOR USING THE STEREO VISION

H KASE, N MARU, A NISHIKAWA, S YAMADA, F MIYAZAKI

PROCEEDINGS OF THE IECON 93 - INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1-3 ( I E E E )    1791 - 1796   1993  [Refereed]

Active detection of binocular disparities

Noriaki Maru, Atsushi Nishikawa, Fumio Miyazaki, Suguru Arimoto

    263 - 268   1992

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The major problem in binocular stereo vision is a well-known correspondence problem. Almost of the previous works solved this problem by imposing the additional constraints such as smoothness constraint or the ordering constraint etc. Therefore, they can not find the occlusion correctly and deal with the transparent surfaces, because these constraints are violated. In this paper, we propose an active algorithm to detect binocular disparities without using additional constraints. It is based on the motion parallax obtained by the moving monocular camera. The search range of binocular disparity is restricted based on the monocular motion parallax. The condition to find binocular disparities is only the uniqueness of disparity. Experimental results with complicated scene are presented to demonstrate the effectiveness of this method.

Adaptive Disparity Detection in Binocular Vision.

MARU Noriaki, NISHIKAWA Atushi, MIYAZAKI Fumio, ARIMOTO Suguru

JRSJ ( The Robotics Society of Japan )  9 ( 3 ) 287-294 - 294   1991.06

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Binocular Vision has been considered to be a method of three dimensional measurement, and this leads to lack of discussing how to decide the size of region that apply physical restriction, the reliability of disparities. These missing issues are quite important for robots when they use it as a method of percepting depth information. In this paper, we propose an adaptive algorithm to compute reliable disparities fast. It is composed of two processes. One is the process that compute disparities with the uniform radius of the correlation window. It can compute disparities with high reliability by eliminating false disparities sequencially. Another is the process that compute disparities with the adaptive radius of the correlation window. Since this process automaticaly selects the minimum radius of the correlation window in which reliable disparities can be detected, fast computation of disparities is realizable. It is shown that the algorithm of Adaptive Disparity Detection is effective for various images.

DOI

Adaptive binocular vision system for robots

Noriaki Maru, Fumio Miyazaki, Suguru Arimoto

IEEE International Conference on Intelligent Robots and Systems ( Institute of Electrical and Electronics Engineers Inc. )  1990-   679 - 684   1990

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Though Binocular Vision has been considered to be a method of three dimensional measurement,the investigations so far lack discussing how to decide the size of region to which physical constraints applies, the reliability of calculated disparity, and the speed of calculation. These issues are quite important to robots when they use it for a method of percepting depth information. In this paper, we use two conditions for Binocular Fusion, and propose a method of adaptively detecting disparity in each portion of images. Since this method automatically selects the minimum size of neighboring region in which reliable disparities can be detected, fast computation of disparities is realizable. Furthermore, we propose a more powerful methed to reduce ambiguity of disparity than Neural Network approach, and show that it leads to fast and reliable computaion of ambiguous disparity. It is shown with several experimental results that our algorithm with these features is effective especially for Robot Vision.

DOI