Shun'ichi Kaneko

• Hokkaido University

This work presents a Hypothesis on Degradation Modification (HoD) based on Co-occurrence Pixel-Block Pairs (CPB, which is proposed in our previous work) to further resist background changes for foreground detection, such as illumination changes and background motion. HoD provides CPB with a model update strategy that can be used for a long time. Wh...

Bullet identification requires special skills and takes a long time. So novel method is expected to be developed for assisting this skillful and time-consuming work. The discrimination of two bullets needs similarity quantification of striated toolmarks most. But conventional method based on image correlation is not applicable because of lower stri...

A classification technique of using a new feature named 'Extended Jaccard index" of cross-sectional shapes of firing pin impression is proposed. The three-dimensional data of the marks on the cartridge cases are measured by a confocal microscopy. After measurement of marks, horizontal and vertical cross-sectional shapes of firing pin impression are...

Firearms identification requires professional knowledges and a lot of time cost. It is also necessary to quantitatively evaluate the performance of firearms identification schema. As the first step, the segments of the firing pin impression and primer cap in the cartridge cases may be assumed as one of the promising features for it. In this study,...

Bullet identification requires special skills and takes a long time. So novel method is expected to be developed for assisting this skillful and time-consuming work. The discrimination of two bullets needs similarity quantification of striated toolmarks most. But conventional method based on image correlation is not applicable because of lower stri...

抄録 Bullet identification is the difficult work that only specialists can do. It requires a high level of skill and takes a long time. So we are trying to assist appraising workers by using an image processing technology. In this paper, we propose a method to express the similarity between two bullets numerically and to estimate whether two bullets...

This paper presents a novel low cost learning algorithm for a test feature classifier by use of an overlap index list (OIL). In general, classifiers need a large amount of training data to achieve the high performance, which results in long computation times. The proposed algorithm using OIL can maintain search and check elemental combinatorial fea...

Change detection plays an important role in most video-based applications. The first stage is to build appropriate background model, which is now becoming increasingly complex as more sophisticated statistical approaches are introduced to cover challenging situations and provide reliable detection. This paper reports a simple and intuitive statisti...

In this study, a spatial-dependent background model for detecting objects is used in severe imaging conditions. It is robust in the cases of sudden illumination fluctuation and burst motion background. More importantly, it is quite sensitive under the cases of underexposure, low-illumination, and narrow dynamic range, all of which are very common p...

This paper presents an extended shadowing compensation model for eliminating shadowing errors in the scanning electron microscope photometric stereo method. This extended model removes the earlier restrictive assumption that the shadowing effects exist only on horizontal surfaces. This model is developed by modeling image intensities in both the ab...

This paper proposes a rotational registration algorithm for point sets that represent defects on the surfaces of hard disks or other disk media that lack registration indexes. The proposed algorithm is designed to match point sets more accurately. It works by using an existing matching algorithm called Local Consistency of Point Dispersion (LCPD) t...

In recent years, researches on the habit of creature and its characteristic are widely treated based on the image observation. Especially, research of creature which transmits a pathogen is important. For instance, at Japan environmental sanitation center, evaluation experiment of medicine evasion to cockroach is conducted. Then, since the evaluati...

An illumination-invariant background model for detecting objects in dynamic scenes is proposed. It is robust in the cases of sudden illumination fluctuation as well as burst moving background. Unlike previous works, it distinguishes objects from a dynamic background using co-occurrence character between a target pixel and its supporting pixels in t...

This paper describes a method for correcting differences in human vibratory perception caused by sensory adaptation. Humans feel a vibrational strength when a vibrating device is held in the hand. However when the vibrational frequency is changed, human perception of the new frequency is affected by the vibrational frequency experienced before the...

To remove weeds around a grape vine without damaging the stem, we propose a contact recognition technology in this paper. The developed technique can reliably determine the position of the vine's lower stem, which may be deformed under sufficient force and may be buried in the weeds. We have developed a new method to detect the position of grape st...

The authors have developed a technology to produce a 3D surface model by detecting the 3D edges on the stereo-images of a digital camera. Then we arrived to register the 3D data obtained from the stereo-images and the 3D edge data detected on the 3D point-cloud of a Terrestrial Laser Scanner (TLS), and thus succeeded to develop the new technology t...

In Japan which low birthrate and aging goes ahead through, technology is needed for facilitating the activities of elderly persons as well as their caregivers. Wearable assist devices, such as the Smart Suit Lite (SSL), are effective for this purpose. It is important to evaluate such devices from not only physical, but also from psychophysical pers...

We've developed a vibration alert interface (VAI), provides some information through changing its vibration pattern. In our previous studies, we designed the VAI and its vibration pattern to provide analog-like information to users such as distance to obstacles. To recognize the precise information, users need to perceive the vibration pattern corr...

We have developed semi-active assist mechanisms and their control method. The semi-active assist mechanism uses the restoring force of elastic materials as an assist force, and the mechanism can control the restoring force by adjusting the equilibrium point of the elastic materials by using an actuator. The control method for sinusoidal motions wer...

A method is proposed for measuring brain activity during exercises involving head motion by using functional near-infrared spectroscopy (fNIRS), which investigates cerebral hemodynamics. Obtaining measurements during exercise is difficult because cerebral blood flow changes due to the head motion component (HMC), in addition to neural activity. HMC...

This paper proposed a robust 3D surface reconstruction method which could automatically eliminate shadowing errors. For modeling shadowing effect, a new shadowing compensation model is introduced based on angle distribution of backscattered electrons and further modified with some practical factors. Furthermore, the presented iterative shadowing co...

A method is proposed for measuring brain activity during exercises involving head motion by using functional near-infrared spectroscopy (fNIRS), which investigates cerebral hemodynamics. Obtaining measurements during exercise is difficult because cerebral blood flow changes due to the head motion component (HMC) in addition to neural activity. HMC...

A novel robust model for background subtraction under complex scenes is proposed. Unlike the previous works, it utilizes multiple pixel-pairs which exhibit a stable co-occurrence relation. In training progress, the support pixels are screened by utilizing temporal covariance matrix, and the spatial distributions of support pixels are optimized by s...

This paper describes an analysis of the power assist and the skill assist effects of a semi-active assist mechanism based on an energy control. For this mechanism, we have developed a soft and flexible power assist device that consists of an elastic material and a small direct current motor. The assist force is then the elastic force, which is cont...

This study is aimed at developing a high-reliability motion stereo system through the consideration of camera vibration. In stereo measurement, we can approximate the distribution of measurement the error in images as a uniform distribution, and the distribution of the disparity error as a triangular distribution. Therefore, the parameters of the d...

We propose a hand-eye calibration method for 3-D vision sensors by using only a mark. Main advantage of the method is safety and easy to use. It uses only a mark and needs only five observations. The method has two points; 1) A Rotation matrix and a translation vector is independently computed. 2) Each observation is integrated as much as possible....

This research has developed the User Interface, called Vibration Alert Interface (VAI), which presents information by the difference in the frequencies of vibration. Much of conventional vibration presentation equipment warned the user by on and off change of vibration, however, VAI is to change a frequency of shown vibration, and its degree as wel...

To evaluate KEIROKA technology by the brain activity, investigation of cerebral blood flow due to brain activity is conducted by using functional near-infrared spectroscopy (fNIRS). However, it is difficult to measure the brain activity using fNIRS during exercise because cerebral blood flow changes due to head motion not to neural activity. The he...

This paper describes change in vibratory perception due to an adaptation, its modeling and correction method. Vibration alert interface is a vibration display device which conveys information such as distance and degree of risk using difference of vibration frequency and temporal pattern. In the vibration alert interface, user needs to perceive the...

A novel method of shape representation through the cable model is proposed for cables of various types used in many industrial production lines. Principal component analysis is properly utilized in the method for detecting length orientations of objects. Segmentation is a fundamental process which enables to handle complex shaped cables as a train...

This paper presents a novel method for robust object tracking in video sequences using a hybrid feature-based observation model in a particle filtering framework. An ideal observation model should have both high ability to accurately distinguish objects from the background and high reliability to identify the detected objects. Traditional features...

抄録 Due to vastness of vineyards in Hokkaido, it is very hard for their workers to eradicate weeds. In order to solve this problem, a weeding robot development with a multi-link manipulator using a visual sensing technique of stereo camera system for recognizing grape trunk is aimed in this research. However this technique lacks accuracy because the...

Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA (fatigue-reduction) Technology which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. Along the way, various assistant technologies for work and task supports have been sugg...

This paper describes a skill assist method based on an energy control that employs a semi-active assist mechanism. For this mechanism, we have developed a soft and flexible power assist device that consists of elastic materials and a small DC motor. The assist force is the elastic force of the elastic materials, and this force is controlled by adju...

Recently, tracking method to moving objects on time-series images has an important key role in the field of image processing, for example, medical recognition field or measurement system device. In this paper, we propose new robust tracking method to multiple moving objects based on orientation code matching with extended Kalman filter. Our method...

In realizing a robotic assembly system of electronic products, recognizing the connectors with flexible cables as a single component is one of the most difficult problems, which prevents from automating the system. To overcome this problem, we used our proprietary 3-D range sensor and developed three component algorithms: one is to recognize random...

In this paper, we present a novel robust technique for background subtraction in different complex conditions (e.g. sudden illumination changes, swaying leaves, and camera vibrations). Unlike the previous works, the proposed method utilizes multiple point pairs that exhibit a stable statistical intensity relationship as a background model. The inte...

In this paper, we describe the influence of vibratory adaptation on vibration perception and its correction method. Vibration strength after change depends on the vibration frequency before change even if the vibration frequency itself does not change. We found that the higher the vibration frequency before change, the weaker the perceived vibratio...

In this paper, we propose a robust and accurate background model, called grayscale arranging pairs (GAP). The model is based on the statistical reach feature (SRF), which is defined as a set of statistical pair-wise features. Using the GAP model, moving objects are successfully detected under a variety of complex environmental conditions. The main...

We are developing a passive power assist supporter "Smart Suit Light". The smart suit light is a compact and lightweight power assist device utilizing elastomeric force of elastic materials. We constructed Motion-based-assist method to design the smart suit light for particular motions. Moreover, we developed an extended musculoskeletal model which...

A lot of person has lumbar pain, and in addition to that, a lot of operation that have heavy burden with bend forward exists when daily life and specifically working. Then, we pay attention to lumbar burden when various work was done, and made the system that estimate lumbar burden in present study.

This study aims to establish an error model for a stereo measurement system by considering camera vibration. In stereo measurements, we can approximate the measurement error distribution in images as a uniform distribution. Therefore, the parameters of the measurement error distribution are the mean value μ and the standard deviation ω, while the a...

In this paper, we refer to images obtained by mapping dots observed during defect inspections as secondary images. We propose a method of extracting information for specifying the causes of distinctive structural patterns that appear in the secondary images. We suggest the use of a light process for conducting real-time inspection and the feature e...

A novel scheme for construction and representation of a single compound cable is presented. The complicated geometry of those objects put on natural posture is analysed and represented based on a modified clustering method: Outer Edge FCM. In the modification, the membership functions can be extended by introducing three evaluation functions for di...

The aim of this article is to develop a robust real velocity sensing system for agrimotors such as sprayers and harvesters of which large slip in the fields is unavoidable. Shifting displacement on ground is measured indirectly by using image matching, instead of conventional tachometer measuring method. In so doing, robust sensing system which eli...

This paper introduces a new method which enables to track the moving object in the image data. Detecting and tracking of the moving object in time-series image is important in the field of image processing. In the past, it is not easy to detect the moving object by the effect of the change in brightness. To solve this problem, a background image or...

This study develops a vision-based displacement measurement system for remote monitoring of vibration of large-size structures such as bridges and buildings. The system consists of one or multiple video cameras and a notebook computer. With a telescopic lens, the camera placed at a stationary point away from a structure captures images of an object...

In this paper, we report the development of a power-assisted valve for fire engines. In Japan, the number of fire fighters is decreasing year by year; therefore, it is important to reduce the amount of labor involved in firefighting. Although the development of an automatic system is possible in strictly technical terms, firefighting regulations in...

This paper describes semi-active assist control in the form of a smart suit for horse trainers. We have developed a soft and flexible power assist device named ”smart suit” for reducing user's physical fatigue. The smart suit is a semi-active and flexible power assist devices. The semi-active assist mechanism consisting of elastic materials and a s...

We have developed a digital photogrammetry system, which enables us to make all-around D measurement using the object pictures obtained through the integrated works of digital cameras, projectors and our specific PC software. The system consists of units, each of which is again consists of two synchronized digital cameras and projectors with PC pro...

Our present study aims to establish a method for estimating the position of a mobile robot traversing irregular ground. More specifically, we apply simultaneous localization and mapping (SLAM) using a laser range finder (LRF). We derive an expression to estimate the position of the mobile robot relative to a fixed landmark using the LRF. We use two...

In this research, we aim at reducing physical strain from nozzle reaction force and making the fire fighting activity more smoothly. We measured reaction forces as water is projected from a nozzle. We also conducted an analysis of physical strain for water projection angle and nozzle bending angle.

Due to the vastness of the vineyards in Hokkaido, it is very hard for its workers to eradicate weeds. In order to solve this problem, we aim to develop a weeding robot with a multi-link manipulator, using a visual sensing technique of stereo camera system for recognizing the trunk of grape. However this technique lacks accuracy because the stereo c...

The purpose of this work is to design a system capable of easily lifting heavy weights through a direct interface between the user and the system itself, receiving signals from the user and using a low-powered actuator connected to a spring to amplify its power, defining the so called Semi-active system. Varying the system weight from 5 to 15 kg it...

We have developed a soft and flexible power assist device named "smart suit". The assist force is basically gained by the elastic force of elastic materials, and it is controlled by adjusting the length of the elastic materials by using DC motor. In this study, we applied the smart suit to horse trainers for reducing their physical fatigue in horse...

The purpose of this study is to develop the control method for power assist system that has energy regeneration system, by recovering desired load reduction ratio even if torque saturation happens. This paper considers using the ratio of impluse of assist force to impluse of operator's force as an evaluation indicator. Proposed method predicts the...

This paper describes influence of adaptation on vibration perception for information presentation device using vibration. Information presentation using vibration is an effective method to convey the information to the user. Vibration conveys the information to the user by change in vibration frequency. However, vibration perception was changed due...

The purpose of this research is to develope the powered valve for fire engine which according to person's intention based on impedance control. We establish the method to predict valve's opening time period by initial value of operation torque. In addition, we establish the method to predict it real time baced on minimum jerk model. It made the eva...

In this study, we propose a multi-portal human interface (M-HI)as an innovative human interface for power assist systems. M-HI allows users to apply force anywhere in the power assist system. This paper describes the concept, the design, the algorithm and possible applications of M-HI. In addition, this paper demonstrates the effectiveness of M-HI...

This study aims to establish a Robust sensor system by considering a camera vibration. In stereo measurement, we cam approximate the distribution of the measurement error in image by using uniform distribution. Therefore, the parameters of the distribution of the measurement error are the mean value μ and the standard deviation σ, while the amplitu...

Nighttime images of a scene from a surveillance camera have lower contrast and higher noise than their corresponding daytime images of the same scene due to low illumination. We propose a denighting method that enhances nighttime images so that they are closer in quality to images taken during the daytime. Our denighting method is based on an obser...

The simultaneous joint torque and angle recognition for dynamic movement we propose using ultrasound echo and is test feature classifier is for application in human-machine systems such as wearable robots. Ultrasound emitted on the skin surface and reflected within the body is used to recognize features extracted from the echo. Features is change b...

In this paper, we report the development of a power-assisted valve for fire engines. In Japan, the number of firefighters is decreasing year by year; therefore, it is important to reduce the amount of labor involved in firefighting. Although the development of an automatic system is possible in strictly technical terms, firefighting regulations in...

This paper proposes a new robust tracking method to the moving object on image. Recently, technique of image processing to detect and track the moving object on time series images is important subject in the fields of intelligent transport systems and security systems. In the past, it was difficult to detect the moving object by the effect of chang...

In this paper, we propose a velocity sensor for agricultural vehicles by sensing ground motion with robust image matching algorithm called Orientation Code Matching (OCM). The sensor performs velocity measurement with high accuracy and robustness without error by slipping in the fields. The algorithm of OCM is implemented on a Field Programmable Ga...

In this research, we developed a wearable power assist system Smart Suit for snow shoveling, and constructed Motion Based Assist Method. The Smart Suit is controlled by semi-active assist system with elastic materials and adjustable assist mechanisms. Motion Based Assist Method is an technique to design control rule by measuring the motion. We prop...

This paper proposes a novel scheme for image focusing by introducing a new focus measure based on self-matching methods. A unique pencil-shaped profile is identified by comparing the similarity between all patterns extracted around the same position in each scene. Based on this profile, a new criterion function called Complementary Pencil Volume (h...

This paper describes the assist force control of semi-active assist system ldquosmart suitrdquo for horse trainer. We developed a soft and flexible power assist device named ldquosmart suitrdquo for reducing horse trainers' physical fatigue in their horse training works in order to prevent their spine or legs injuries. The smart suit is a kind of s...

A novel algorithm for rotational registration of dot-cloud data based on Local Consistency of Point Dispersion considering defect types (color LCPD) is proposed. In this approach, a new measurement of the local consistency of the distribution of the dot clouds in both data sets is developed, which can then be combined into a weighted-metric based o...

A method for detecting an object's motion in images that suffer from camera shake or images with camera egomotion is proposed. This approach is based on edge orientation codes and on the entropy calculated from a histogram of the edge orientation codes. Here, entropy is extended to spatio-temporal entropy. We consider that the spatio-temporal entro...

We have been developing ldquoSmart Suitrdquo as a soft and light-weight wearable power assist system. A prototype for preventing low-back injury in agricultural works and its semi-active assist mechanism have been developed in the previous study. The previous prototype succeeded to reduce about 14% of average muscle fatigues of body trunk in waist...

This study aims to establish an error model of the stereo measurement system considering camera vibration. At first, we verified the distribution of disparity error under the circumstance without the camera vibration and with the camera vibration. As the result, we found that we can approximate the distribution of disparity error by normal distribu...

This paper proposes a novel focus measure based on self-matching methods. A unique pencil-shaped profile is identified by comparing the similarity between patterns extracted around their neighborhood in each scene. Based on this, a new criterion function, CPV, is defined to evaluate focused or defocused scenes. OCM is recommended due to its invaria...

This paper aims to propose a method of robot contest that enlightens welfare activity for children. Recently, many children have few chance to meet and communicate the grandparents, because numbers of two-generation family increased. A lot of current robot contests for children have given priority to the education of creativity. Then, we give the c...

This study aims to obtain exact visual information in irregular ground. We use visual information obtained by stereo measurement. We can approximate disparity error distribution by normal distribution. At first, we examine relationship between parameter of disparity error and parameter of camera vibration. Next, we define existing probability using...

We have been researching a portable obstacle recognition support device to avoid danger for users and surrounding people. We have confirmed that perception of vibration is changed by user's grip force, the stronger grip force, the stronger user feel vibration. In addition, experimental result showed that the vibrations strength users feel changes w...

Laser robot can weld more accurate than Arc welding. However, the accuracy of positional match is demanded. Then, the system the welding robot is equipped with the camera and slit beam irradiating to the welding object is assumed. And, the irradiated appearance is photographed. By giving geometrical analysis to the obtained beam image, laser robot...

This research has been making the powered cock for fire engine. Recently the number of Japanese firemen decreases. They need device with a little load but it is forbidden to automate completely by fire defense law. So this research's purpose is to make the powered cock according to person's intention based on impedance control. First, we have confi...

This paper proposes a novel scheme for image focusing by introducing a new focus measure based on self-matching methods. A unique pencil-shaped profile is identified by comparing the similarity between all patterns extracted around the same position in each scene. Based on this profile, a new criterion function called Complementary Pencil Volume (C...

We propose a new method for simultaneous joint torque and angle recognition in dynamic motion by using ultrasound echo. Test Feature Classifier has been employed as a classifier. Ultrasound is emitted from the surface of skin and it is reflected inside of living body. Feature values for the recognition are extracted from the reflected wave. The fea...

This paper has proposed a novel and robust scheme of image focusing by introducing a new measure of focusing based on Orientation Code Matching.(hereinafter,OCM) A unique pencil-shape profile has been found through comparing the similarity between any patterns extracted at the same position within their own scenes. Based on this profile, a new eval...

This paper proposes a new method to estimate distortion for template matching. Matching object images from scenes to pre-obtained reference images is necassary for robot mobility, but matching error due to distortion of images ramains a problem. There are two measures of distortion: "scale" which represents the distortion of distance from an object...

We propose a novel three-Dimensional measurement approach of flexible cables for factory automation appliations, such as cable handling, connecter insertion without conflicts with cables by using robotic arms. The approach is based on motion stereo with a vision sensor. Laser slit beams are irradiated and make landmalks on the cables to solve stere...

This paper describes an improved method based on DAI(Depth Aspect Image) matching and HM-ICP (Hierarchical M-ICP) which has been proposed as robust, fast and highly accurate D object recognition of model and scene data. DAI matching is robust and fast for objects in a cluttered scene and HM-ICP is fast and of high accuracy but requires good startin...

This study aims to develop a velocity estimation and an envirnment recognition method for a mobile robot in an undulating environment. By evaluating the measuring errors of stereo method, we aim to remove those errors and get accurate velocity and environment information. We calculate velocity of mobile robot by dividing the difference of stereo da...

Recently, we see many portable device users walking, using eniail service and internet contents. Such an activity is dangerous because it makes users less alert to surrounding obstacles. Therefore we set out to develop a. portable Obstacle-Recognition-Support-Device that widely secures the walking safety of the users. We proposed. the estimation me...

Due to the area of the wainari-vineyard in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a new dynamic image measure technique which can be applied to the weeding robot in vineyards. The outstanding of this technique is that it can discriminate the weed and...

This paper has mainly discussed about two problems, object focusing and depth measurement. First, we propose a novel and robust scheme of image focusing by introducing a new measure of focusing based on Orientation code matching. A new evaluation function, named Complemental pencil volume, CPV, is defined and calculated to represent local sharpness...

We propose a new method for joint angle and torque estimation by using ultrasound. The ultrasound is emitted from the surface of skin. The estimation is carried out based on the feature value extracted from the reflected wave from inside of living body. The feature value changes as the movement of the muscle relating to the joint. We conducted an e...

In the previous paper, the authors achieved a 3D motion capture system by using one camera with triangle markers, named as Mono-MoCap (MMC). MMC has two features. One is that MMC can measure 3D positions of subjects by using one camera on the basis of the perspective n point (PnP) problem. Another is that MMC does not need to recalibrate the camera...

We have proposed a brand-new noninvasive method of joint torque and joint angle estimation by using ultrasound sensor for detecting muscle movement. In this study, the movement of biceps muscle and triceps muscle of human arm are detected with the ultrasound sensors. These muscles have a relation to contraction and extension of elbow joint. We cond...

This paper presents a novel fast and highly accurate 3-D registration algorithm. The ICP (Iterative Closest Point) algorithm converges all the 3-D data points of two data sets to the best-matching points with minimum evaluation values. This algorithm is in widespread use because it has good validity for many applications, but it extracts a heavy co...

Instead of tachometer-type velocity sensors, an effective method of estimating real-time velocities based on a robust image matching algorithm is proposed to measure real-time velocities of agrimotors or working machines, such as sprayers and harvesters, driven by them in real farm fields. It should be precise even they have any slipping, and stabl...

This study aims to expand a measuring range of stereovision system. In the previous paper, the authors achieved a 3D motion capture system by using one camera with triangle markers, named as Mono-MoCap (MMC). MMC has two features. One is that MMC can measure 3D positions of subjects by using one camera on the basis of the perspective n point (PnP)...

Quality of local regions in the scene could be deteriorated by the effects of ill-conditioned lighting effects and reflection. We develop a method to improve the quality of local regions. The local region of the image is firstly selected by an algorithm that is based on similarity evaluation of the region. Then the histogram of brightness and satur...

This paper aims to propose a fast image searching method from environmental observation images even in the presence of scale changes. A new scheme has been proposed for extracting feature areas based on a robust image registration algorithm called Orientation code matching. Extracted areas are stored as template images and utilized in image searchi...