著者

山口 恵璃 樋口 寛 山下 淳 淺間 一

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.87, no.1, pp.114-119, 2021-01-05 (Released:2021-01-05)

参考文献数

12

被引用文献数

2

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This paper proposes a method to improve the accuracy of SLAM in environments with glass by combining LRF and a polarization camera to detect a wide range of glass. Glass confidence of each point detected by the LRF is calculated using the polarization from the polarization camera. The polarization camera acquires the intensity of light passing through the polarizers in four directions. The degree of polarization is calculated from the light intensity of four directions, and is used as the glass confidence. Every time the robot moves, the map and the glass confidence are updated. The robot’s position is estimated using the generated map. Accuracy of the map is improved by considering the glass probability. Improved accuracy of the map also improves the accuracy of self-localization. The accuracy of glass detection was confirmed by the experimental results. The AUC of glass detection was 0.942. As a result, the proposed method was able to produce a more accurate map in the glass area.

著者

樋口 寛 藤井 浩光 谷口 敦史 渡辺 正浩 山下 淳 淺間 一

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.36, no.3, pp.222-232, 2018 (Released:2018-05-15)

参考文献数

21

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This paper presents an effective 3D measurement method from the inside of large structures such as railway vehicles, elevators, and escalators. In our proposed method, images are captured by a moving measurement device, which is composed of a ring laser and a camera, from the inside of the target object. Structures of the target are reconstructed from these images by integrating cross-section shapes, obtained by the light-section method, into unified coordinate by pose changes estimated by Structure from Motion (SfM). We focus on the method to extract information necessary for the light-section method and SfM from the captured images which contain both laser light and texture information. A color filter used in the proposed method enables to extract areas irradiated by the laser for the light-section method. Further, a new block matching technique is introduced to avoid the influence of the laser light, which causes to detect wrong corresponding points. In experiments, we confirmed the validity of the proposed 3D measurement method.

著者

樋口 寛晃 旭 健作 佐川 雄二 杉江 昇

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)

巻号頁・発行日

vol.124, no.12, pp.2439-2445, 2004 (Released:2005-03-01)

参考文献数

18

被引用文献数

1 2

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We propose a method for separating speeches using two spectrograms. First, two spectrograms are generated from voices recorded with a pair of microphones. The onsets and the offsets of the frequency components are extracted as the features using image processing techniques. Then the correspondences of the features between the spectrograms are determined and the intermicrophone time differences are calculated. Each of frequency components with the common onset/offset occurrences and time difference are grouped together as originating one of the speech signals. A set of band-pass filters are generated corresponding to each group of frequency components. Finally, each of the separated speech signals is extracted by applying the set of band-pass filters to the voice signal recorded by a microphone. Experiments were conducted with the mixture of a male speech sound and a female speech sound consisting of Japanese vowel and contain consonant. The evaluation results demonstrated that the separation was done reasonably well with the proposed method.