http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Hirokazu Madokoro,Shinya Ueda,Kazuhito Sato 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
This paper presents a semantic scene recognition method from indoor areal time-series images obtained using a micro air vehicle (MAV). Using category maps, topologies of image features are mapped into a low-dimensional space based on competitive and neighborhood learning. The proposed method comprises two phases: a codebook feature description phase and a recognition phase using category maps. For the former phase, codebooks are created automatically as visual words using self-organizing maps (SOMs) after extracting part-based local features using a part-based descriptor from time-series scene images. For the latter phase, category maps are created using counter propagation networks (CPNs) with extraction of category boundaries using a unified distance matrix (U-Matrix). With manual MAV operation, we obtained areal time-series image datasets of five sets for two flight routes: a round flight route and a zigzag flight route. The experimentally obtained results with leave-one-out cross-validation (LOOCV) for datasets divided with 10 zones revealed respective mean recognition accuracies for the round flight datasets and zigzag flight datasets of 71.7% and 65.5%. The created category maps addressed the complexity of scenes because of segmented categories in both flight datasets.
Prototype Development of On-Board Vision Processing Micro Air Vehicle for Wide-Range Monocular SLAM
Shinya Ueda,Hirokazu Madokoro,Kazuhito Sato,Nobuhiro Shimoi 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This study was undertaken to create an indoor environmental map using a monocular camera based on structure from motion (SfM). Numerous methods on simultaneous localization and mapping (SLAM) have been proposed for 3D map construction used for various types of mobile robots. We used MonoSLAM proposed by Davidson et al., which is a fundamental method using extended Kalman filters (EKFs) for feature tracking and updating with camera position estimation. For this study, we developed our original micro air vehicle (MAV) prototype to obtain time-series images in a wide-range of indoor environments. The MAV prototype has four monocular cameras to actualize rapid omnidirectional sensing and has computer systems for online vision processing. We applied the method to a benchmark dataset and our original dataset, which was obtained using a single monocular camera. Using the benchmark dataset, we confirmed the appearance tendencies and their meaning of three color patches: red, blue, and yellow patches that respectively correspond to correct tracking, failure tracking, and temporary waiting local features. The experimentally obtained results obtained using our dataset reveal detection of numerous yellow patches, a few blue patches, and a few red patches. Moreover, we obtained 3D trajectories of a camera on the MAV as 3D maps.
( Isamu Maeda ),( Hirokazu Sakurai ),( Kazuyuki Yoshida ),( Mohammad Shohel Rana Siddiki ),( Tokuo Shimizu ),( Motohiro Fukami ),( Shunsaku Ueda ) 한국미생물 · 생명공학회 2011 Journal of microbiology and biotechnology Vol.21 No.12
Recombinant Rhodopseudomonas palustris, harboring the carotenoid-metabolizing gene crtI (CrtIBS), and whose color changes from greenish yellow to red in response to inorganic As(III), was cultured in transparent microplate wells illuminated with a light emitting diode (LED) array. The cells were seen to grow better under near-infrared light, when compared with cells illuminated with blue or green LEDs. The absorbance ratio of 525 to 425 nm after cultivation for 24 h, which reflects red carotenoid accumulation, increased with an increase in As(III) concentrations. The detection limit of cultures illuminated with near-infrared LED was 5 μg/l, which was equivalent to that of cultures in test tubes illuminated with an incandescent lamp. A near-infrared LED array, in combination with a microplate, enabled the simultaneous handling of multiple cultures, including CrtIBS and a control strain, for normalization by the illumination of those with equal photon flux densities. Thus, the introduction of a near-infrared LED array to the assay is advantageous for the monitoring of arsenic in natural water samples that may contain a number of unknown factors and, therefore, need normalization of the reporter event.