研究者詳細 - 丸　典明

論文 - 丸　典明

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視空間に基づいたビジュアルサーボによるEye-And-Hand型ロボットアームの制御

広瀬僚平, 丸典明 (担当区分：最終著者,　責任著者 )

日本機械学会論文集 908 ( 88 ) 1 - 12 2022年03月 [査読有り]

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年 [査読有り]

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

井上, 丸 (担当区分：責任著者 )

International Journal of Automation Technology 5 ( 5 ) 649 - 654 2011年09月 [査読有り]

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

小里, 丸 (担当区分：責任著者 )

International Journal of Automation Technology 5 ( 4 ) 569 - 574 2011年07月 [査読有り]

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

井上, 丸 (担当区分：責任著者 )

International Journal of Automation Technology 5 ( 3 ) 452 - 457 2011年05月 [査読有り]

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

山下, 丸 (担当区分：責任著者 )

International Journal of Automation Technology 5 ( 3 ) 445 - 451 2011年05月 [査読有り]

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 (担当区分：責任著者 )

日本機械学会誌論文集(C) 077 ( 776 ) 1366 - 1375 2011年04月 [査読有り]

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 (担当区分：責任著者 )

日本機械学会論文集(C) 077 ( 773 ) 158 - 165 2011年01月 [査読有り]

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年 [査読有り]

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 (担当区分：責任著者 )

日本機械学会論文集(C) 72 - 718 2006年06月 [査読有り]

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年 [査読有り]

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年07月

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 (担当区分：最終著者 )

日本ロボット学会誌 17 ( 2 ) 71 - 77 1999年03月 [査読有り]

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 (担当区分：最終著者 )

日本ロボット学会誌 16 ( 7 ) 150 - 152 1998年10月 [査読有り]

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年 [査読有り]

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 (担当区分：最終著者 )

Systems and Computeres in Japan 28 ( 9 ) 86 - 97 1997年10月 [査読有り]

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年08月

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 (担当区分：最終著者 )

システム制御情報学会論文誌 10 ( 6 ) 287 - 296 1997年01月 [査読有り]

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 (担当区分：最終著者 )

計測自動制御学会論文誌 33 ( 1 ) 35 - 41 1997年01月 [査読有り]

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年

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.

DOI

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年 [査読有り]

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 (担当区分：最終著者 )

日本ロボット学会誌 14 ( 8 ) 1145 - 1151 1996年10月 [査読有り]

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 (担当区分：最終著者 )

日本ロボット学会誌 14 ( 5 ) 743 - 750 1996年08月 [査読有り]

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年 [査読有り]

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年

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 (担当区分：最終著者 )

電子情報通信学会誌 79 ( 2 ) 153 - 164 1995年12月 [査読有り]

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年 [査読有り]

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年

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年 [査読有り]

アクティブなステレオビジョンによる曲面の隠れ輪郭の検出

西川敦, 丸典明, 宮崎文夫 (担当区分：最終著者 )

電子情報通信学会誌 ( 一般社団法人電子情報通信学会 ) 76 ( 8 ) 1654 - 1666 1993年08月 [査読有り]

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 (担当区分：責任著者 )

システム制御情報学会誌 6 ( 8 ) 360 - 367 1993年07月 [査読有り]

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 (担当区分：筆頭著者 )

日本ロボット学会誌 11 ( 2 ) 272 - 280 1993年03月 [査読有り]

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年 [査読有り]

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年 [査読有り]

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年 [査読有り]

Active detection of binocular disparities

Noriaki Maru, Atsushi Nishikawa, Fumio Miyazaki, Suguru Arimoto

263 - 268 1992年

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.

両眼立体視における適応的視差検出法

丸典明, 西川敦, 宮崎文夫, 有本卓

日本ロボット学会誌 ( The Robotics Society of Japan ) 9 ( 3 ) 287-294 - 294 1991年06月

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年

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

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