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We propose a method to correct the aspect ratio distortion of images using convolutional neural network (CNN). The “aspect ratio”, which is focused on this research, is defined as the relative “image aspect ratio” (i.e. ratio of width to height of image) from non-stretched image. And the aspect ratio can be distorted by vertical or horizontal stretching, which does not maintain the image aspect ratio...
In this paper, we propose a method that automatically estimates surgical phases in a specified workflow with a multi-camera system. More specifically, our goal is to output an appropriate phase label for each one-second of input videos captured by multiple cameras in an operating room. The fundamental idea behind our work lies in constructing a hidden Markov model based on motion features, which are...
We previously proposed a wearable robot arm named Assist Oriented Arm, that solved weight and safety problems of the existing wearable robot arms. The previous user interface of AOA was consisted of multi-button switches. However, the previous version did not satisfy the users due to its complexity of operations. To solve this problem, in this paper, we propose two types of new interface of AOA: using...
This paper proposes an information addition system onto books by using projector-camera system. Recently, e-books have become widespread. E-books have features that traditional books do not have, such as sharing added comments and highlights with other readers. On the other hand, some users still prefer paper books. Thus, in this paper, we aim to realize adding and sharing comments/highlights in paper...
We propose a software-based projected image stabilization method for a projector mounted on a movable unit (e.g., a wheeled robot). The proposed method is divided into pre-measurement and stabilization processes. In the pre-measurement process, synchronized Inertial Measurement Unit (IMU) data and projector poses are measured and synchronized. In the stabilization process, the pre-measured IMU data...
In this paper, we present a robust method to improve the accuracy of phases segmentation problem in a specified surgical workflow (SW) by learning a topic model from the optical flow (OF) motion features of general working contexts, such as the medical staffs, equipments and materials. We have an awareness of such working contexts by capturing the SW with multiple synchronized cameras. The main problems...
We propose a modeling and simulation method to control the pose of a projector mounted on a simple robotic device to be deployed in SAR (spatial augmented reality) application where a virtual content should be projected over a desired target area in the real world. For this purpose, the principal axis and four edges of a frustum, which are the key geometric features of projection, are kinematically...
Patch-based image synthesis has been enriched with global optimization on the image pyramid. Successively, the gradient-based synthesis has improved structural coherence and details. However, the gradient operator is directional and inconsistent and requires computing multiple operators. It also introduces a significantly heavy computational burden to solve the Poisson equation that often accompanies...
Talking heads synthesis with expressions from speech is proposed in this paper. Talking heads synthesis can be considered as a learning problem of sequence-to-sequence mapping, which consists of audio as input and video as output. To synthesize talking heads, we use SAVEE database which consists of videos of multiple sentences speeches recorded from front of face. Audiovisual data can be considered...
In recent years, the issue of how to support the disabled people to live independently above and beyond care services and facilities become important. One of those solutions has the method using the manipulator. The most of manipulators were fastened to a wheelchair in conventional research which have spatial and activity constraints. We have developed Ritsumei-Safe Daily Cooperator (R-SaDaCo), a...
In this paper, we propose a method to calibrate multiple RGB-D cameras for the Intelligent Space (iSpace) using human observation. The iSpace, that is consisted of many sensors, can understand what is happening in it and can support people in it based on the understand results. In the iSpace, we can add and remove the sensors easily. The proposed method is suitable for calibrating such system and...
DARPA Robotics Challenge left not only technology development in the humanoid field but also increase of the attention on humanoids and the motivation to become a humanoid developer to people. However, the reality is not so simple. To develop a humanoid which has enough DOF and performance, it costs too much and most people in the world cannot own one. In this research, we propose the LoE (League...
In this paper, we present two new methods to integrate latent Dirichlet allocation (LDA) which is a topic model for surgical workflow phase estimation with a hidden Markov model (HMM). The proposed methods are able to detect surgical phases automatically based on codebook which is built by quantizing the extracted optical flow vectors from the recorded videos of surgical processes. To detect the current...
In this paper, we propose a behavior model for a mobile robot with a projector to provide an appropriate information support based on user's interests and situations. We have been researching Ubiquitous Display (UD) and its behavior model. UD is consisted of a mobile robot and the projector with pan-tilt mechanism, and can show the various information by using its projector on various places, such...
In this paper, we propose a method to achieve projection mapping by mobile projector robot. Projection mapping technology become popular and is used in various situations. However, since most of the current projection mappings are based on pre-calibrated fixed projectors, projectable areas become small fixed regions. We have been researching Ubiquitous Display (UD) that is a mobile-projection robot...
We propose a camera-projector module based space figure understanding support system. The system is able to create the 3D model of a space figure automatically by visual sensing of the drawn space figure on a plane such as a paper. Furthermore, the system adopted a new hardware and an user interface unlike existing system. The system is composed of following three parts; Recognition part, User Interface...
When a train is delayed because of a disturbance, the time interval between successive trains increases, and high-frequency metro lines can become unstable. Time interval control is therefore necessary in preventing such instabilities. In this paper, we propose a traffic regulation algorithm which is easy to implement and guarantees system stability. In the proposed method, controlled trains are determined...
In this paper, we introduce the latest prototype MoMo for the R+iSpace. The R+iSpace denotes ‘Reconfigurable Intelligent Space’, and it can solve the problem of device's spatial constraint that the conventional iSpace has. The R+iSpace employs the mobile module (MoMo) to solve the problem. The MoMo is a kind of wall climbing robot, and the device is mounted on the MoMo. Thus, the R+iSpace can solve...
Unlike industrial robots, human interaction robots are designed to focus on coexistence with humans. In order to coexist with humans, there are many considerable factors. Among them, one of the important factor is that how the robot is shown to human. According to the situation of interaction between a human and the robot, the required robot's presence is different. If the presence of the robot is...
This article discusses opportunities for the use of crowdsourcing and gamification models in the development of software solutions and algorithms for humanoid robots. An Internet-based online competition is used for accumulation of novel software solutions from participants. The project provides remote access to an actual humanoid robot for developing and testing submitted software, and successful...
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