Takafumi Matsumaru

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• Doctor of Engineering
• Professor (Full) at Waseda University

https://www.fujipress.jp/jrm/rb/robot002900020365/ This paper proposes the ORB-SHOT SLAM or OS-SLAM, which is a novel method of 3D loop closing for trajectory correction of RGB-D visual SLAM. We obtain point clouds from RGB-D sensors such as Kinect or Xtion, and we use 3D SHOT descriptors to describe the ORB corners. Then, we train an offline 3D vo...

https://www.fujipress.jp/jrm/rb/robot002800050759/ The purpose of this study is to realize a near-field touch interface that is compact, flexible, and highly accurate. We applied a 3-dimensional image sensor (time-of-flight camera) to achieve the basic functions of conventional touch interfaces, such as clicking, dragging, and sliding, and we desi...

div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/05.png"" width=""300"" />Human Detecting and Following To meet the higher requirements of human-machine interface technology, a robot with human-following capability, a classic but significant problem, is discussed in this paper. We first propose a human detection method...

div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/04.jpg"" width=""250"" /> IDAT for Hand-Eye COORD TRNG This paper presents a novel arm-training system, known as the image-projecting desktop arm trainer (IDAT), which is aimed at hand-eye coordination training. The projector displays an exercise image on a desktop in fro...

This paper proposes the step-on interface (SOI) to operate a mobile robot in which a projector projects and displays a direction screen on a floor and a user specifies a button showing the selected movement by stepping or pointing. The HFAMRO-1 mobile robot has been developed to demonstrate the SOI’s potential (HFAMRO: “human-friendly amusing” mobi...

Manually crafted features often suffer from being subjective, having an inadequate accuracy, or lacking in robustness in recognition. Meanwhile, existing deep learning methods often overlook the structural and dynamic characteristics of the human hand, failing to fully explore the contextual information of joints in both the spatial and temporal do...

Existing surface shaping methods focus on hard materials with stable physical properties. This means that the approaches developed are insufficient for shaping soft materials. The article describes a cheap method of reproducing plastic deformations using a robotic manipulator. The shape recording and reproduction system consists of two RGB-D camera...

Ensuring safe, comfortable, and efficient navigation is a critical goal for autonomous driving systems. While end-to-end models trained on large-scale datasets excel in common driving scenarios, they often struggle with rare, long-tail events. Recent progress in large language models (LLMs) has introduced enhanced reasoning capabilities, but their...

Autonomous navigation systems often struggle in dynamic, complex environments due to challenges in safety, intent prediction, and strategic planning. Traditional methods are limited by rigid architectures and inadequate safety mechanisms, reducing adaptability to unpredictable scenarios. We propose SafeMod, a novel framework enhancing safety in aut...

The article presents a dedicated method for recognizing human postures using classification and clustering options. The ultimate goal of the research is to recognise human actions based on posture sequences. Such a task imposes expectations on the developed method. For this purpose, a Sparse Autoencoder combined with a Self-Organized Map (SOM) is p...

The air-writing recognition task entails the computer’s ability to directly recognize and interpret user input generated by finger movements in the air. This form of interaction between humans and computers is considered natural, cost-effective, and immersive within the domain of human-computer interaction (HCI). While conventional air-writing reco...

Image super-resolution (ISR) technology aims to enhance resolution and improve image quality. It is widely applied to various real-world applications related to image processing, especially in medical images, while relatively little appliedto anime image production. Furthermore, contemporary ISR tools are often based on convolutional neural network...

Recently, the dangers associated with face generation technology have been attracting much attention in image processing and forensic science. The current face anti-spoofing methods based on Generative Adversarial Networks (GANs) suffer from defects such as overfitting and generalization problems. This paper proposes a new generation method using a...

The purpose of this paper is to introduce and discuss the following two functions that are considered to be important in human-coexistence robots and human-symbiotic robots: the method of generating emotional movements, and the method of transmitting behavioral intentions. The generation of emotional movements is to design the bodily movements of r...

Touch-less interaction is an active area of research due to its numerous applications ranging from medical systems to gaming. In this paper we propose a novel interactive system based on RealSense camera to track the pose of hand and to recognize gestures. Our approach is based on MediaPipe model introduced by Google to detect the landmarks of the...

Light detection and ranging (LiDAR) systems, also called laser radars, have a wide range of applications. This paper considers two problems in LiDAR data. The first problem is occlusion. A LiDAR acquires point clouds by scanning the surrounding environment with laser beams emitting from its center, and therefore an object behind another cannot be s...

This paper describes an off-line (i.e. pre-navigation) methodology for machines/robots to identify zebra crossings and their respective orientations within pedestrian environments, for the purpose of identifying street crossing ability. Not knowing crossing ability beforehand can prevent path trajectories from being accurately planned pre-navigatio...

This paper introduces a system that can estimate the deformation process of a deformed flat object (folded plane) and generate the input data for a robot with human-like dexterous hands and fingers to reproduce the same deformation of another similar object. The system is based on processing RGB data and depth data with three core techniques: a wei...

This paper introduces an object model and an interaction method for a simulated experience of pottery on a potter’s wheel. Firstly, we propose a layered cylinder model for a 3D object of the pottery on a potter’s wheel. Secondly, we set three kinds of deformation functions to form the object model from an initial state to a bowl shape: shaping the...

The three-dimensional aerial image interface (3DAII) is a system for aerially projecting various 3D objects. The projected objects can be viewed from multiple directions without the use of special devices, such as eyeglasses (i.e. AR), gas or vapor for projection...etc. This research aims to reproduce 3D objects that can be touched and rotated inte...

In this paper, we introduce the three-dimensional aerial image interface, 3DAII. This interface reconstructs and aerially projects a three-dimensional object image, which can be simultaneously observed from various viewpoints or by multiple users with the naked eye. A pyramid reflector is used to reconstruct the object image, and a pair of paraboli...

In this article, a framework for planning sidewalk-wise paths in data-limited pedestrian environments is presented by visually recognizing city blocks in 2D digital maps (e.g., Google Maps, and OpenStreet Maps) using contour detection, and by then applying graph theory to infer a pedestrian path from start to finish. Two main problems have been ide...

The three-dimensional aerial image interface (3DAII) is a system for aerially projecting various 3D objects. The projected objects can be viewed from multiple directions without the use of special devices, such as eyeglasses (i.e. AR), gas or vapor for projection...etc. This research aims to reproduce 3D objects that can be touched and rotated inte...

In this research, six brands of soft drinks are decided to be picked up by a robot with a monocular RGB camera. The drinking bottles need to be located and classified with brands before being picked up. A Mask R-CNN is pretrained with COCO datasets to detect and generate the mask on the bottles in the image. The Inception v3 is selected for the bra...

In this research, six brands of soft drinks are decided to be picked up by a robot with a monocular Red Green Blue (RGB) camera. The drinking bottles need to be located and classified with brands before being picked up. The Mask Regional Convolutional Neural Network (R-CNN), a mask generation network improved from Faster R-CNN, is trained with comm...

The three-dimensional aerial holographic image interface (3DAHII) is a system for aerial projection of varying 3D objects. The projected objects can be viewed from multiple directions without the use of special devices such as eyeglasses, gas or vapor for projection, rotating parts, and so on. In this research, we propose a system to capture a vide...

Computer mice and keyboards are most widely used to work with personal computers as pointing and typing devices respectively. As alternatives to a computer mouse, there are other types of pointing devices that use depth sensor or camera for pointing detection. However, current implementations are uncomfortable for usage because a user must raise hi...

The three-dimensional aerial holographic image interface (3DAHII) is a system for aerial projection of varying 3D objects. The projected objects can be viewed from multiple directions without the use of special devices such as eyeglasses, gas or vapor for projection, rotating parts, and so on. In this research, we propose a system to capture a vide...

Computer mice and keyboards are most widely used to work with personal computers as pointing and typing devices respectively. As alternatives to a computer mouse, there are other types of pointing devices that use depth sensor or camera for pointing detection. However, current implementations are uncomfortable for usage because a user must raise hi...

This paper describes a path planning framework for processing 2D maps of given pedestrian locations to provide sidewalk paths and street crossing information. The intention is to allow mobile robot platforms to navigate in pedestrian environments without previous knowledge and using only the current location and destination as inputs. Depending on...

We as human learn specific operations that typically belong to the object by touching and with sensory feedback data, we form particular skills of object handling such as with which hand pose to grasp the object, how much force to use, and which hand movement to make. As human development in babyhood, we all start learning how to handle objects by...

A Small Mobile Robot (SMR) moves inside another wider Frame Mobile Robot (FMR) and one of them stops at a time to be as a reference for the other using multi-laser pointers fixed in the FMR. These robots are designed to form a closed system that is to minimize accumulated errors occurred during the robot moves in which the robots’ positions are cor...

objective of this paper is to reduce the vertical and pitch accelerations of a half car rail model. A rigid half-car high speed passenger vehicle with 10 degrees of freedom has been modelled to study the vertical and pitch accelerations. State space mathematical approach is used to model rail input that takes in track vibrations. An augmented track...

This paper describes a path planning system for processing 2D color maps of a given location to provide sidewalk paths, street crossing landmarks, and instructions for a robot platform or user to navigate, using only the current location and destination as inputs. For the navigation of robots and especially disabled people in outdoor pedestrian env...

We have proposed a hand gestured based control system with an interactive 3D hologram object floating in mid-air as the hand movement reference, named The Aerial Projection of 3D Hologram Object (3DHO). The system consists of the hologram projector and a sensor to capture hand gesture. Leap motion is used for capturing the hand gesture command whil...

This paper presents a newly developed calligraphy-stroke learning support system. The system incorporates the following functions: a) Displaying brushwork, trajectory, and handwriting; b) recording and playback of an expert's calligraphy-stroke; and c) teaching a learner a calligraphy-stroke. The following features of the system demonstrate the con...

This article focuses on the implementation details of a portable interactive device called Image-projective Desktop Varnamala Trainer. The device uses a projector to produce a virtual display on a flat surface. For enabling interaction, the information about a user's hand movement is obtained from a single two-dimensional scanning laser range finde...

This paper showcases the development of a mobile robot integrated with Projectable Interactive Surface to facilitate its interaction with human users. The system was designed to interact with users of any physical attributes such as height, arm span etc. without re-calibrating it. The system was designed in such a way that there would be no need fo...

In this paper we present the 3D hologram objects manipulation by using the pyramid and parabolic mirror hologram system (for 3D hologram object reconstruction) and the Leap Motion sensor (as a finger movement detector of a user). This system not only can reconstruct and project the 3D hologram object in the mid-air, but also provides a way to inter...

An Image-projective Desktop Varnamala Trainer (IDVT) called SAKSHAR has been designed to improve the learning of alphabets, etc., by children through an interactive audio visual feedback system. It uses a projector to render a virtual display. Instead of a camera or scanning laser range finder to capture user's hand movement, the feedback about use...

This paper describes preliminary announcement methods for a daily-life-support robot using a robot avatar and their evaluation. We proposed four methods using the robot avatar. The first method expresses the robot's stop by glancing the robot avatar down the floor. The second method is similar to the first method; the difference is that the robot a...

This research aims to instruct a brush work for calligraphy learning. Therefore, a calligraphy learning support system is developed for supporting brushwork learning by using a projector. In order to instruct the three-dimensional brushwork such as the writing speed, pressure, and orientation of the brush, we proposed the instruction method by pres...

This paper shows a method of tracking feature points to update camera pose and generating a synchronous map for AR (Augmented Reality) system. Firstly we select the ORB (Oriented FAST and Rotated BRIEF) [1] detection algorithm to detect the feature points which have depth information to be markers, and we use the LK (Lucas-Kanade) optical flow [2]...

This paper proposes a novel technology to detect the orientation of an image relying on its contour which is noised to varying degrees. For the image orientation detection, most methods regard to the landscape image and the image taken of a single object. In these cases, the contours of these images are supposed to be immune to the noise. This pape...

This research aims to instruct a brush work for calligraphy learning. Therefore, a calligraphy learning support system is developed for supporting brushwork learning by using a projector. In order to instruct the three-dimensional brushwork such as the writing speed, pressure, and orientation of the brush, we proposed the instruction method by pres...

This paper describes preliminary announcement methods for a daily-life-support robot using a robot avatar and their evaluation. We proposed four methods using the robot avatar. The first method expresses the robot's stop by glancing the robot avatar down the floor. The second method is similar to the first method; the difference is that the robot a...

An Image-projective Desktop Varnamala Trainer (IDVT) called SAKSHAR has been designed to improve the learning by children through an interactive audio visual feedback system. This device uses a projector to render a virtual display, which permits production of large interactive displays with minimal cost. The user’s hand is recognized with the help...

This paper shows a novel method to extract hand Representative Point (RP) based on 2-dimensional laser range scanner for hand motion estimation on projecting system. Image-projecting Desktop Arm Trainer (IDAT) is a projecting system for hand-eye coordination training, in which a projector displays an exercise screen on the desktop, and a laser rang...

This paper shows the simulating and displaying of Puck motion in virtual Air Hockey based on projective interface for multi-users HRI. Image-projective Desktop Arm Trainer (IDAT) is an upper-limb rehabilitation system for hand-eye coordination training based on projective interface. To expand more entertainment functions and realize multi-user HRI,...

In this paper, a calligraphy learning support system is presented for supporting brushwork learning by using a projector. The system was designed to provide the three kinds of training according to the learner's ability as followings: copying training, tracing training, and combination of them. In order to instruct the three-dimensional brushwork s...

In this paper, a calligraphy learning support system is presented for supporting brushwork learning by using a projector. The system was designed to provide the three kinds of training according to the learner's ability as followings: copying training, tracing training, and combination of them. In order to instruct the three-dimensional brushwork s...

In this paper, a calligraphy learning support system is presented for supporting brushwork learning by using a projector. The system was designed to provide the three kinds of training according to the learner's ability as followings: copying training, tracing training, and combination of them. In order to instruct the three-dimensional brushwork s...

Multi-user laser pointers system, in which more than single people could use the laser pointers concurrently, has promising applications, such as group discussion, appliances control for several handicapped persons, controlling the large displays by a few users and the like. Conventional methods employed in the above-mentioned applications are comm...

This paper introduces the real-time fingers naming method then illustrates how hand languages could be recognized by hand gesture and relation between fingertips. Moreover, this paper provides information on how to calculate and name each finger then using arm for dynamically adjust and improve the stability while the hand is moving. Supported by t...

SAKSHAR – An Image-projective Desktop Varnamala Trainer (IDVT) is a touch based audio visual feedback system that was designed to aid in imparting knowledge to children through interactive learning. The first version of the device used a projector for establishing large intuitive displays surfaces and a Laser Range Finder for detecting a touch. Thi...

This paper shows a novel method to extract hand representative point (RP) based on 2-dimensional laser finder for hand-eye coordinate training system. Image-projective Desktop Arm Trainer (IDAT) is a hand-eye coordination training system, in which a projector displays an exercise screen on the desktop, and a laser range finder detects trainee’s han...

This paper shows a method of tracking feature points to update camera pose and generating a synchronous map in an unknown scene. Adapting SLAM algorithms have attempted some methods but the computation is expensive and the speed is slow. In order to realize a real-time system, we divide tracking and generation into two parallel threads processed on...

Facial expression recognition (FER) is an interesting and challenging problem, and impacts important applications in many areas such as human-computer interaction and human-robot interaction. We present a novel facial expression recognition using the Extended Curvature Gabor Filter Bank (ECGFB). We extend the traditional Gabor kernel into Extended...

In this paper, a calligraphy learning support system is presented for supporting brushwork learning by using a projector. The system was designed to provide the three kinds of training according to the learner's ability as followings: copying training, tracing training, and combination of them. In order to instruct the three-dimensional brushwork s...

Hand gesture recognition is a well-known researched topics in recent years since it was designed for the purpose of Human-robot interaction. The aim of this paper is to make system can recognize variety of sign language recognition. We proposes Hand side discrimination method by using combination of color, depth and infrared data then analyze hand...

For traditional artificial potential field method, there exist local minima problem in the region of null potential point, especially when multiple obstacles appear. An improved method to overcome these defects was proposed for real-time robot obstacle avoidance. To solve local minima, the null potential point is removed by excluding the farthest o...

This work mainly focus on fingertip touch human-machine interface. Users can use specific surface freely and comfortably as a touch pad. Firstly, webcam and ToF camera are calibrated and a projection mapping is calculated from depth image to color image. Then, a stable fingertip detection and tracking algorithm is introduced. Finally, a simple but...

In this research, we propose Virtual Musical Instruments such as virtual piano and virtual xylophone with speed detection and object distinguishing, which applied by using ASUS XTION sensor and Leap motion for a contact and non-contact detection between hand, tool and surface. In an XTION sensor with RGB Camera and IR sensor, it was designed for bo...

Traditional craftsmanship should be handed on to the next generation. Introduction of augmented reality (AR) technology has abilities for recording and replaying such craftsmanship. In this paper, we developed a support system for the calligraphy-stroke learning using projection. The purpose of this system is to correct writing strokes by a trainee...

Multiuser laser pointers system, in which more than single people could use the laser pointers concurrently, has promising applications, such as group discussion, appliances control for several handicapped persons, controlling the large displays by a few users and the like. Conventional methods employed in the above-mentioned applications are commo...

In the recent twenty years, a new training way of combining virtual-reality games is gradually used in the rehabilitation training field. A rehabilitation system called IDAT which used a step-on interface (SOI) as the input port and output port. Through SOI, users can interact with the system only through a screen projected by projector. This paper...

SAKSHAR-An Image-projective Desktop Varnamala Trainer (IDVT) has been designed to improve the learning of alphabets, etc. by children through an interactive audio visual feedback system. This device uses a projector to render a virtual display, which permits production of very large interactive displays with minimal cost. Also the entire system is...

In order to construct interaction-interface-system using projected screen and pan-tilt-zoom camera, the purpose of this study is to realize an automatic adjustment and tracking system. It is hard for average users to set the projector, the screen and the camera at some appropriate position before starting the interaction-interface-system. Our syste...

This paper shows a novel walking training system for foot-eye coordination. To design customizable trajectories for different users conveniently in walking training, a new system which can track and record the actual walking trajectories by a tutor and can use these trajectories for the walking training by a trainee is developed. We set the four it...

Laser spot clicking technique is the term of remote interaction technique between human and computer using a laser pointer as a pointing device. This paper is focused on the performance test of two laser spot clicking techniques. An off-the-shelf laser pointer has a toggle switch to generate a laser spot, the presence (ON) or absence (OFF) of this...

In near future, robots will coexist with and effectively support human. Especially, human-following function can achieve the robot to be an assistant for humans in various situations, such as accompany runners, travel guide. Robot will no longer play the role of a worker, but a friend of mankind. Several research institutions have presented study o...

Nowadays, mobile robots are widely used, such as intelligent wheelchairs, shopping guide robots, rescue robots, robot waiters and so on. In order to control the robot diversely and more convenient, we focus on finding new functions to control the mobile robot in the different situation. The infrared projector, depth camera, RGB camera, and sound se...

In order to construct interaction-interface-system using projected screen and camera, develop automatic adjustment and tracking system during projected screen and pan-tilt-zoom-camera. This system make more simply for setting projected screen and camera position. Because it is bother that first setting projected screen and camera position to use in...

While we have an interactive screen like in modern computer and cell phone, but this kind of screen in a bigger size is not good to maintain and travel. The depth sensor such as Xtion or Kinect is open the new way of user interface. Originally Xtion was created to detect body skeleton, to make it usable with hands some algorithm must apply. On the...

Image-projective Desktop Arm Trainer IDAT is designed to improve the upper limb therapy effect. This paper is focused on its design concept. The most important structural feature of IDAT is that it is non-invasive and unconstrained. Setting on the desk apart from the trainee sitting makes no body contact. It works based on the trainee's voluntary m...

Robot human-following is an important part of interaction between robot and people. Generally, speed of mobile robots is limited and far slower than human beings naturally walking speed. In order to catch the human rapidly, in this paper, we introduce a control method which uses adaptive acceleration of robots speed. The speed of robots mainly depe...

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[http://www.iconceptpress.com/download/paper/12050414283668.pdf]

[http://www.iconceptpress.com/download/paper/12050414244751.pdf]

We propose and implement a solution for applying an infrared radiation (IR) image sensor to step-on interface (SOI). SOI is a kind of natural human-robot interface what consists of a projector and a laser range scanner (LRG) sensor. And it enables any interactive touch applications on desktop or floor. We attempt to introduce an IR image sensor suc...

A laser pointer can be used as an input interface in human-machine interaction. Such utilization, however, can be problematic and one of the main issues is the lack of good reliability in the laser spotlight detection. Another problem is how to interpret the user's movement of the spotlight into commands for the application. This paper proposes a m...

Aim to improve upper limb rehabilitation effect, we design and develop an Image-projective Desktop Arm Trainer (IDAT). Compared with conventional therapy, IDAT provides a more effective and interesting training method. IDAT's goal is to maintain and improve patients' upper limb function by training their eye-hand coordination. We select step-on int...

This research is focusing on lower-limb rehabilitation especially for stroke patients. We set the four items for human-robot interaction designing as introducing game elements in our lower-limb training: feedback, synchronization, ingenuity and adaptability. To design customizable trajectories for different patients conveniently in walking training...

In order to improve the rehabilitation robot's affinity and operability and support a better human robot interaction, "Step on Interface (SOI)" is selected as the input system. SOI is operated directly by trainee's hand which is different with previous upper limb rehabilitation robots. We focus image-projective desktop arm trainer, IDAT's training...

This paper describes the application of step-on interface (SOI) to therapy. SOI consists of a projector and a sensor such as range scanner, and its special feature is using a projected screen as bidirectional interface through which the information is presented from a robot to a user and the user instructions are delivered to the robot. The human-f...

This paper presents one of the interaction models between humans and machines using a camera, the projector, and the spot-light from a laser pointer device. A camera was attached on the top of the projector, and the projector directed a direction screen display on the wall, while the user pointed a laser pointer to the desired location on the direc...

The friendly amusing mobile (FAM) function in which a robot and a user can interact through a motion is proposed applying the mobile robot step-on interface (SOI) in which the user can direct robot movement or operation by stepping or pointing on the button which shows the contents to desire on the operation screen projected on a floor. HFAMRO-2 mo...

We propose touch-game application as a new function of Step-on Interface. It is development of the application for recreations. Users operate the screen projected by the projector by touching by hand. We considered projecting a screen on a desk so that elderly people could perform a recreation safely. This paper shows development of the application...