Authorship：Last author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.23919/siceiscs60954.2024.10505758

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Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2024.3443130

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Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/tg.2024.3498325

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Authorship：Lead author,　Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

This paper presents a multi-box interpolation method to estimate point clouds during aerial-aquatic transition. Our proposed method is developed based on an investigation of noise characteristics of aerial point clouds and aquatic point clouds. To evaluate the performance of realistic point cloud estimation, we compare the interpolation method with the Gaussian mixture method. We also investigate how single-box and multi-box approaches deal with noise in point cloud estimation. The simulation and the experimental results show that the estimated point cloud is accurate even when the aerial and aquatic point clouds contain noise. Also, the multi-box concept helps the algorithm to avoid taking unwanted noise into consideration when predicting point clouds.

DOI： 10.20965/jrm.2023.p1645

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Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

In this paper, we propose the design and implementation of spherical magnetic joint (SMJ)-based gait generation for the inverted locomotion of multi-legged robots. A spherical permanent magnet was selected to generate a consistent attractive force, enabling the robot to perform inverted locomotion under steel structures. Additionally, the robot’s foot tip was designed as a balljoint mechanism, providing flexibility in foot placement at any angle between the tip and surface. We also introduced an adjustable sleeve mechanism to detach the foot tip during locomotion by creating a fulcrum during the tilt and pull steps. This mechanism effectively reduced the reaction force based on the sleeve diameter. The experimental results showed a 46% decrease in the present load when using the adjustable sleeve mechanism compared to direct pulling. For inverted locomotion, a quadruped robot and a hexapod robot, which represent the predominant type of multi-legged robots, were constructed. We integrated the SMJ and adjustable sleeve into both robots, enabling them to perform inverted locomotion with various gaits such as crawling, trotting, square, and tripod gaits. Our analysis examined the characteristics of each gait in terms of velocity and stability, thereby confirming the versatility of the proposed SMJ, which can be applied to different types of legged robots.

DOI： 10.20965/jrm.2023.p1227

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ismar-adjunct60411.2023.00097

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

Using fire blankets is one effective option for fire extinguishing. This paper proposes a two-step release mechanism for unmanned aerial vehicles (UAVs) that can precisely drop a blanket onto a target location using the advantage of wind load, avoiding the ground effect. We analyzed wind velocity under the UAV body to find the optimized range that maximizes the release of the fire blanket. Afterwards, we tested the performance of our proposed system in an indoor environment with simulated wind disturbance. Our experiment results showed that the system is robust against wind disturbance at 3.5 m/s. Finally, we tested our system with UAVs in an outdoor environment with different heights and proved the effectiveness of the system for up to 4 m height in an outdoor environment.

DOI： 10.20965/jrm.2023.p1053

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Publishing type：Research paper (international conference proceedings)   Publisher：ACM  

DOI： 10.1145/3591156.3591171

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Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/TCSVT.2023.3288547

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Publishing type：Research paper (international conference proceedings)   Publisher：ACM  

DOI： 10.1145/3565970.3567693

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.2312/egve.20221285

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ssrr56537.2022.10018810

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ismar-adjunct57072.2022.00105

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ismar-adjunct57072.2022.00084

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Authorship：Corresponding author   Publishing type：Research paper (international conference proceedings)  

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Authorship：Lead author  

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Authorship：Last author   Publishing type：Research paper (scientific journal)   Publisher：{MDPI} {AG}  

DOI： 10.3390/drones6030056

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Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2022.p0588

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Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/MCG.2020.3041617

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arXiv

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Publishing type：Research paper (scientific journal)  

DOI： 10.1109/TVCG.2022.3181262

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Authorship：Lead author,　Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

Abstract

People with disabilities, such as patients with motor paralysis conditions, lack independence and cannot move most parts of their bodies except for their eyes. Supportive robot technology is highly beneficial in supporting these types of patients. We propose a gaze-informed location-based (or gaze-based) object segmentation, which is a core module of successful patient-robot interaction in an object-search task (i.e., a situation when a robot has to search for and deliver a target object to the patient). We have introduced the concepts of gaze tracing (GT) and gaze blinking (GB), which are integrated into our proposed object segmentation technique, to yield the benefit of an accurate visual segmentation of unknown objects in a complex scene. Gaze tracing information can be used as a clue as to where the target object is located in a scene. Then, gaze blinking can be used to confirm the position of the target object. The effectiveness of our proposed method has been demonstrated using a humanoid robot in experiments with different types of highly cluttered scenes. Based on the limited gaze guidance from the user, we achieved an 85% F-score of unknown object segmentation in an unknown environment.

DOI： 10.1186/s40648-021-00214-4

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Other Link： https://link.springer.com/article/10.1186/s40648-021-00214-4/fulltext.html

Publishing type：Research paper (scientific journal)  

DOI： 10.3390/robotics10040131

Scopus

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Publishing type：Research paper (international conference proceedings)  

Despite remarkable progress in image translation, the complex scene with
multiple discrepant objects remains a challenging problem. The translated
images have low fidelity and tiny objects in fewer details causing
unsatisfactory performance in object recognition. Without thorough object
perception (i.e., bounding boxes, categories, and masks) of images as prior
knowledge, the style transformation of each object will be difficult to track
in translation. We propose panoptic-aware generative adversarial networks
(PanopticGAN) for image-to-image translation together with a compact panoptic
segmentation dataset. The panoptic perception (i.e., foreground instances and
background semantics of the image scene) is extracted to achieve alignment
between object content codes of the input domain and panoptic-level style codes
sampled from the target style space, then refined by a proposed feature masking
module for sharping object boundaries. The image-level combination between
content and sampled style codes is also merged for higher fidelity image
generation. Our proposed method was systematically compared with different
competing methods and obtained significant improvement in both image quality
and object recognition performance.

arXiv

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Other Link： http://arxiv.org/pdf/2112.01926v2

Authorship：Lead author,　Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：{MDPI} {AG}  

DOI： 10.3390/app11188447

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Publisher：IEEE  

This paper presents a 3D pointing interface application to signal a UAV’s target in a large-scale environment. This system enables UAVs equipped with a monocular camera to determine which window of a building is selected by a human user in large-scale indoor or outdoor environments. The 3D pointing interface consists of three parts: YOLO, Open- Pose, and ORB-SLAM. YOLO detects the target objects, e.g., windows, OpenPose extracts the user pose, and ORB-SLAM builds a scale-dependent 3D map, a set of 3D sparse feature points. To obtain the visual scale, it performs a calibration step with the user standing in front of the UAV at a certain distance. We detail how we chose the gesture, localize and detect objects, and transform between coordinate systems. The real- world experiment results showed that the 3D pointing interface obtained a 0.73 F1-score average and a 0.58 F1-Score at the maximum distance of 25 meters between UAV and building.

DOI： 10.1109/icra48506.2021.9561688

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Authorship：Last author   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

DOI： 10.20965/jrm.2021.p0329

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Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

DOI： 10.1186/s40648-021-00200-w

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Other Link： https://link.springer.com/article/10.1186/s40648-021-00200-w/fulltext.html

Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/vrw52623.2021.00105

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Authorship：Last author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ica-symp50206.2021.9358454

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Authorship：Last author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ica-symp50206.2021.9358442

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Publishing type：Research paper (scientific journal)  

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Other Link： https://dblp.uni-trier.de/db/journals/corr/corr2112.html#abs-2112-01926

Publishing type：Research paper (scientific journal)   Publisher：{MDPI} {AG}  

DOI： 10.3390/app10228067

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Publisher：Springer Science and Business Media LLC  

<title>Abstract</title>
Firefighters need to gain information from both inside and outside of buildings in first response emergency scenarios. For this purpose, drones are beneficial. This paper presents an elicitation study that showed the firefighters' desire to collaborate with autonomous drones. We developed a Human-Drone Interaction (HDI) method for indicating a target to a drone using 3D pointing gestures estimated solely from a monocular camera. The participant first points to a window without using any wearable or body-attached device. Through the drone's front-facing camera, the drone detects the gesture and computes the target window. This work includes a description of the process for choosing the gesture, detecting and localizing objects, and carrying out the transformations between coordinate systems. Our proposed 3D pointing gesture improves a 2D pointing gesture interface by integrating depth information with SLAM, solving multiple objects aligned on the same plane ambiguity, in a large-scale outdoor environment. Experimental results showed that our 3D pointing gesture interface obtained a 0.85 and 0.73 F1-Score on average in simulation and real-world experiments and 0.58 F1-Score at the maximum distance of 25 meters between drone and building.

DOI： 10.21203/rs.3.rs-90798/v1

DOI： 10.1186/s40648-021-00200-w_hasPreprint_DOI_5bPDgJTUtoG9TJam8E54vhTBmCm

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Other Link： https://www.researchsquare.com/article/rs-90798/v1.html

Authorship：Last author,　Corresponding author   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.23919/sice48898.2020.9240313

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Publishing type：Research paper (scientific journal)   Publisher：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)  

DOI： 10.1007/978-3-030-49062-1_48

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Information Processing Society of Japan  

DOI： 10.2197/ipsjjip.28.193

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Language：English   Publisher：THE VIRTUAL REALITY SOCIETY OF JAPAN  

<p>In exhibition settings such as art galleries or museums, Augmented Reality (AR) has the potential to provide detailed information about exhibits. While most existing systems provide only general information overlaid on top of the arts, our AR guide system aims to explain multi-section detailed information hidden in the painting. In this paper, we present the design and implementation of our AR guide system in the Microsoft HoloLens and 5 guiding interfaces: Audio, Arrow, Circle, Arrow-Move, and Circle-Move that point out a specific part of the exhibit and explain the detailed information. We also included an embodied agent (EA) as a virtual guide to help engage the user when explaining the detailed information. We conducted a user experiment that simulates guidance for a large painting to evaluate user experiences with and without the EA condition for these interfaces. Results showed that guidance from the EA significantly increased either attractiveness, stimulation, or novelty for the system.</p>

DOI： 10.18974/tvrsj.25.1_68

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Language：English   Publisher：THE VIRTUAL REALITY SOCIETY OF JAPAN  

<p>Observing rapid movements, such as the key moments needed to correctly judge fouls in sports, is a challenging task for referees. Though assistive technology like 2D slow-motion replays exist, users are still limited by the viewing angle and degree of interaction with these videos.</p><p>In this paper, we propose an interactive 3D vision augmentation framework called MomentViz that allows for both high frame rate recording and interactive time-control in 3D space. This system is designed to allow users not only to freely observe dynamic 3D motion from different viewpoints but also to control time from any given viewpoint. To accomplish this, we start by fusing high FPS RGB and depth data to carry out 3D reconstruction. Through a VR HMD, time can then be manipulated in a user selected sub-region of interest of the point cloud by raycasting with a controller. To evaluate this framework for interaction, we conducted experiments testing participants' judgments of rapid movements. Results showed that MomentViz outperforms conventional visualizations in terms of accuracy, required views, and subjective user experience.</p>

DOI： 10.18974/tvrsj.25.2_158

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ICST  

DOI： 10.1145/3369199.3369212

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/ISMAR-Adjunct.2019.000-6

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-030-22577-3_19

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Language：English   Publishing type：Research paper (other academic)  

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1145/3232232

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Authorship：Lead author,　Corresponding author   Publishing type：Research paper (conference, symposium, etc.)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：Japanese   Publishing type：Research paper (other academic)  

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ismar.2018.00037

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：English   Publishing type：Research paper (other academic)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Association for Computing Machinery, Inc  

DOI： 10.1145/3125739.3125774

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Language：English   Publishing type：Research paper (other academic)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ismar.2017.19

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Language：English   Publishing type：Research paper (international conference proceedings)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ismar-adjunct.2017.61

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：English   Publishing type：Research paper (other academic)  

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Language：English   Publishing type：Research paper (other academic)  

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：English  

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Language：Japanese   Publishing type：Research paper (other academic)  

CiNii Books

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Association for Computing Machinery  

DOI： 10.1145/3025171.3025179

Scopus

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Publishing type：Research paper (scientific journal)  

DOI： 10.3169/itej.71.366

Scopus

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Language：Japanese  

J-GLOBAL

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Language：Japanese   Publishing type：Research paper (other academic)  

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s12369-015-0306-y

Web of Science

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-015-0033-z

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1142/S0219843613500084

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/IROS.2013.6696575

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/ICMA.2012.6285114

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Language：English  

DOI： 10.1109/ROBIO.2015.7419066

Web of Science

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Language：Japanese  

J-GLOBAL

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Language：English  

Web of Science

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