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Yoshitaka YAMAUCHI,Hiroshi TAKEMURA,Satoshi KAGAMI,Hiroshi MIZOGUCHI 대한전자공학회 2009 ITC-CSCC :International Technical Conference on Ci Vol.2009 No.7
This paper describes the calculation method of the optimal BBF threshold by performing a simulation which using the background image, a real object image and a 3D model image. The background image is captured by a mobile robot camera, and the object image is also captured by the same camera. As a result of the simulation, we confirmed that more inliers could be passed than the conventional threshold, in case SIFT keypoints are the poses of the model extracted.
Path Planning in Consideration of Relative Velocity for Mobile Robot
Ryo OKUMURA,Hiroshi TAKEMURA,Hiroshi MIZOGUCHI 대한전자공학회 2009 ITC-CSCC :International Technical Conference on Ci Vol.2009 No.7
This paper presents an avoidance efficiency improvement of path planning for mobile robot in consideration of the relative velocity of an obstacle. The potential method was used as the method of path planning. The potential method is one of the methods of path planning for mobile robot in unknown area. It creates a contour line figure, such as taking the target position low an obstacle high, based on the information from a LRF sensor. In this potential method, the area which takes the potential of an obstacle into consideration of is called “Interference Area”, and it is very important to select a threshold value. This paper, we focus on the form of Interference Area as a threshold value to select. By selecting the form of this Interference Area aims at efficiency improvement of path planning. We confirmed that the proposed Interference Area shape improves efficiency in path planning.
Estimation of Head Position by Multiple Cameras for 3D Position Control of Sound Spot
Kazuki TADA,Hiroshi TAKEMURA,Hiroshi MIZOGUCHI 대한전자공학회 2009 ITC-CSCC :International Technical Conference on Ci Vol.2009 No.7
This paper introduces how to form the sound spot in a target person's head by a speaker array. The spherical area, where sound pressure is high on a partial target made by the speaker array, is called sound spot. It was generable in the fixed arbitrary positions until now by using 128ch plane speaker array two or more sets. However, it also has to keep moving with the target person’s motion. In this research, the information on the 3D position of a target person's head is acquired by the image group obtained from multiple cameras, and the sound spot is generated in the head position. By this method, we achieved that the sound spot can move according to a target person.
Influence of Plantar Sensation Decrease on Lower Limbs for Human Gait under Uneven Surface
Shinichiro SUZUKI,Kentaro SEKIGUCHI,Hiroshi TAKEMURA,Hiroshi MIZOGUCHI 대한전자공학회 2009 ITC-CSCC :International Technical Conference on Ci Vol.2009 No.7
This paper describes the walking analysis that pays attention to the relation between plantar sensation and walking. Falling accidents during walking is one of serious problem, and most of them occur under irregular terrain. Thus, the authors made measurement by using motion capture system under such environment. In this measurement, we made uneven surface as one of irregular terrain and used it for the measurement. Also, we decreased plantar sensation of subjects by ice exposure, and compared with normal walking. As a result, significant differences of both motions of lower limbs were found. It is thought that plantar sensation plays an important role in waking with uneven surface.
Kentaro Sekiguchi,Shinichiro Suzuki,Hiroshi Takemura,Hiroshi Mizoguchi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a result of walking experiment of a novel 6-axis force sensor with simultaneous plantar deformation measurement by high-speed cameras under the sensor is presented. The sensor is based on two custombeams and some strain gages in order not to be limited a view of the high-speed cameras. In walking analysis research field, the 6-axis force and plantar skin deformation are very important factors to identify the risk of fall and to reducerisk of fall-related injuries in elderly populations. However, there were no sensor can measure 6-axis force and plantar skin deformation simultaneously. In this paper, the result of assessment experiment of the sensor is described.
Kentaro SEKIGUCHI,Shinichiro SUZUKI,Msahiro UEDA,Hiroshi TAKEMURA,Hiroshi MIZOGUCHI 대한전자공학회 2009 ITC-CSCC :International Technical Conference on Ci Vol.2009 No.7
This paper presents a result of walking experiment of a novel 6-axis force sensor with simultaneous plantar deformation measurement by high-speed cameras under the sensor is presented. The sensor is based on two custom beams and some strain gages in order not to be limited a view of the high-speed cameras. In walking analysis research field, the 6-axis force and plantar skin deformation are very important factors to identify the risk of fall and to reduce risk of fall-related injuries in elderly populations. However, there were no sensor can measure 6-axis force and plantar skin deformation simultaneously. In this paper, the result of assessment experiment of the sensor is described.