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41st Annual Conference of the IEEE-Industrial-Electronics-Society (IECON)

作者： Ono, Akihito Takahashi, Satoru Kawabata, Kuniaki Kaneko, Shun'ichi Suzuki, Tsuyoshi Takemura, Fumiaki Ishihara, Hidenori Kagawa Univ Dept Intelligent Mech Syst Engn 2217-20 Hayashi Cho Takamatsu Kagawa 7610396 Japan RIKEN RIKEN XJTU Joint Res Unit Wako Saitama 3510198 Japan Hokkaido Univ Grad Sch Informat Sci & Technol Kita Ku Sapporo Hokkaido 0600814 Japan Tokyo Denki Univ Dept Informat & Commun Engn Adachi Ku Tokyo 1208551 Japan Okinawa Natl Coll Technol Dept Mech Syst Engn Nago City Okinawa 9052192 Japan

ISBN: (纸本)9781479917624

In this paper, we propose a method of estimating amount of attitude change of stationary sensor node which is important to realize observation of identical spot for a long term based on the tracked position data of underwater landmark generated on underwater image, and then in order to see a target, in here a coral, in the fixed position on image, attitude of captured image is corrected based on the estimated amount of attitude data. Then, we generate underwater landmark based on orientation code which is robust for illumination change caused by wave, and track underwater landmarks sequentially combining the method of position detection by using orientation code matching and the method of position estimation by particle filter. Further, we design the evaluation function using time series images. Then, we estimate amount of attitude change of sensor unit of stationary sensor node by optimizing the evaluation function based on Steepest Descent Method, and correct the attitude of original image with the estimated attitude data. Finally, through some experiments, we prove the effectiveness of our methods and discuss the future work.

关键词： stationary sensor node underwater landmark attitude estimation orientation code matching particle filter time series image attitude correction for underwater image

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An Attitude Correction Method for Underwater Image captured by Stationary Sensor Node

An Attitude Correction Method for Underwater Image captured ...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Akihito Ono Satoru Takahashi Tsuyoshi Suzuki Kuniaki Kawabata Fumiaki Takemura Shun'ichi Kaneko Hidenori Ishihara Dept. of Intelligent Mechanical Systems Engineering Kagawa University Dept. of Information and Communication Engineering Tokyo Denki University RIKEN-XJTU Joint Research Unit RIKEN Dept. of Mechanical System Engineering Okinawa National College of Technology Graduate School of Information Science and Technology Hokkaido University

ISBN: (纸本)9781479917631

关键词： Stationary sensor node Underwater landmark Attitude estimation orientation code matching Particle filter Time series image Attitude correction for underwater image

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Generation Method of Marine Tag for Robot of Oceanographic Observation

Generation Method of Marine Tag for Robot of Oceanographic O...

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13th IEEE International Workshop on Advanced Motion Control (AMC)

作者： Nota, Y. Takahashi, S. Kawabata, K. Kaneko, S. Takemura, F. Suzuki, T. Kagawa Univ Dept Intelligent Mech Syst Engn Takamatsu Kagawa 7610396 Japan RIKEN Inst Phys & Chem Res RIKEN XJTU Joint Res Unit Global Res Cluster Wako Saitama 3510198 Japan Hokkaido Univ Grad Sch Informat Sci & Technol Kita Ku Sapporo Hokkaido 0600814 Japan Okinawa Natl Coll Technol Dept Mech Syst Engn Okinawa 9052192 Japan Tokyo Denki Univ Dept Informat & Commun Engn Adachi Ku Tokyo 1208511 Japan

ISBN: (纸本)9781479923243

In recent years, many researchers try to observe the state of the global environment from marine information. In this paper, we introduce the recording system of underwater environment. By using this system, we want to observe the change of global environment from the coral bleaching. Especially, we propose the generation method of marine tag in order to measure the 3D position of robot which is used in the sea for measure state of coral bleaching. Marine tag means the feature point of underwater image.

关键词： orientation code matching ocean measurement robot richness of orientation code

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Development of 3D image measurement system and stereo-matching method, and its archaeological measurement

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ELECTRONICS AND COMMUNICATIONS IN JAPAN 2013年第6期96卷 9-21页

作者： Kochi, Nobuo Ito, Tadayuki Kitamura, Kazuo Kaneko, Shun'ichi Hokkaido Univ Sapporo Hokkaido 060 Japan

Three-dimensional measurement and modeling systems with digital cameras on PCs are now making progress and increasingly felt to be desirable in terrestrial (close-range) photogrammetry for such sectors as cultural heritage preservation, architecture, civil engineering, manufacturing, measurement, etc. Therefore, we have developed a system to improve the accuracy of stereo-matching, which is the very core of 3D measurement. As a stereo-matching method, in order to minimize mismatch and to be robust in geometric distortions, occlusion, as well as brightness change, we invented the Coarse-to-Fine Strategy Method by integrating OCM (orientation code matching) with LSM (least squares matching). This system could attain an accuracy of 0.26 mm in experiments on a mannequin. In real-world experiments on archaeological ruins in Greece and Turkey, the accuracy was within 1 cm, compared with their blueprint plan. Formerly, workers required at least 1.5 months for this kind of survey operation with existing methods, but now only 3 or 4 days is needed. This confirmed the practicality and eciency of the new method. Herein we demonstrate our new system of 3D measurement and stereo-matching and present some concrete examples of its practical application. (c) 2013 Wiley Periodicals, Inc. Electron Comm Jpn, 96(6): 921, 2013;Published online in Wiley Online Library (***). DOI 10.1002/ecj.11459

关键词： digital photogrammetry orientation three-dimensional measurement least squares matching orientation code matching

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Medaka Observation based on Rotation Invariant Features

Medaka Observation based on Rotation Invariant Features

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1st International Symposium on Computing and Networking (CANDAR)

作者： Tanaka, R. Okuda, Y. Takahashi, S. Oda, S. Kaneko, S. Kagawa Univ Dept Intelligent Mech Syst Engn 2217-20 Hayashi Cho Takamatsu Kagawa 7610396 Japan Univ Tokyo Grad Sch Frontier Sci Kashiwa Chiba Japan Hokkaido Univ Grad Sch Informat Sci & Technol Sapporo Hokkaido 0600814 Japan

ISBN: (纸本)9781479927951

Recently, image processing is widely used in research on the habits and characteristics creatures. For example, the medaka (Oryzias laptipes) which breeds quickly is popular used in various experiments. In particular, observing the behavior of the medaka is important to understanding the ecology of their characteristics. In this paper, we proposed the tracking method based on image processing for a medaka observation of its behavior. Therefore, we describe our proposed tracking method which combine the estimated position and the orientation code matching based on rotation invariant feature. Through experimentation, we examined the effectiveness of our proposed method.

关键词： medaka Oryzias laptipes orientation code matching medaka tracking

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Robust focusing by orientation code matching and its application to depth reconstruction

Robust focusing by orientation code matching and its applica...

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8th International Conference on Quality Control by Artificial Vision

作者： Li, Yuan Ohmura, Isao Takauji, Hidenori Kaneko, Shun'ichi Tanaka, Takayuki Hokkaido Univ Syst Sensing & Control Lab Grad Sch Informat Sci & Technol Sapporo Hokkaido Japan Hokkaido Ind Res Inst Sapporo Hokkaido Japan

ISBN: (纸本)9780819464514

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 of images, either in or out of focus, by comparing the similarity between any patterns extracted at the same position within their own scenes. An identified and unique maximum or peek, which means exact match, is searched during the scheme. The proposed method of focusing can be applied to the cases of ill-condition scenes with low contrast observations. Experiments show that the OCM-based focusing is very robust to change in brightness, and to even more irregularities in the real imaging system, like dark condition. Second, based on this robust focusing technique, we applied it to an image sequence of an object surface to measure the depth of profile. A simple plane object surface has been implemented to demonstrate the basic approach. The results showed the successful and precision depth measurement of this object.

关键词： robustness focusing orientation code matching volume-based sharpness depth reconstruction shape from focus

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Robust pattern recognition techniques

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Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering 2011年第12期77卷 1121-1124页

作者： Satoh, Yutaka Kaneko, Shun'ich Sakaue, Katsuhiko

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Using orientation code matching for robustly sensing real velocity of agrimotors

Using orientation code matching for robustly sensing real ve...

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Conference on Optomechatronic Sensors, Instrumentation, and Computer-Vision Systems

作者： Nakahara, Kazuya Takauji, Hidenori Kaneko, Shun'ichi Tanaka, Takayuki Shimizu, Masashi Miyashita, Yukio Hokkaido Univ Grad Sch Informat Sci & Technol Kita Ku Kita 14Nishi 9 Sapporo Hokkaido 060 Japan MFG Co Ltd Toyo Agr Mach Obihiro Hokkaido Japan

ISBN: (纸本)9780819464736

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 stable and robust to many ill-conditions occurred in the real world farm fields, where the robust and fast algorithm for image matching, orientation code matching is effectively utilized. A prototype system has been designed for real-time estimation of velocities of the agrimotors and then the effectiveness has been verified through many frames obtained from the real fields in various weather and ground conditions.

关键词： orientation code matching image registration velocity real farm field

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Vision-Based Tracking Method to Multiple Interacting Targets

Vision-Based Tracking Method to Multiple Interacting Targets

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36th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)/4th IEEE International Conference on E-Learning in Industrial Electronics/IES Industry Forum

作者： Honda, Tatsuya Takahashi, Satoru Takauji, Hidenori Kaneko, Shun'ichi Kagawa Univ Dept Intelligent Mech Syst Engn Takamatsu Kagawa 7910396 Japan Hokkaido Univ Div Syst Sci & Informat Sapporo Hokkaido 0600814 Japan

ISBN: (纸本)9781424452262

In this paper, we introduce a method of moving insects tracking. Our method is robust image processing to change of illumination under orientation code matching. Further, based on extended Kalman filter, it can track moving insects which are doing the random motion. Through experiments, this paper shows the effectiveness of proposed method.

关键词： Kalman filters computer vision extended Kalman filter image matching image motion analysis image processing moving insects tracking method orientation code matching vision-based tracking method

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Visual Feedback System for Tracking of Microorganisms using Color OCM

Visual Feedback System for Tracking of Microorganisms using ...

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36th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)/4th IEEE International Conference on E-Learning in Industrial Electronics/IES Industry Forum

作者： Honda, Takumi Takauji, Hidenori Kaneko, Shun'ichi Hokkaido Univ Grad Sch Informat Sci & Technol Sapporo Hokkaido Japan

ISBN: (纸本)9781424452262

In the field of nanotechnology, tracking freely swimming microorganisms under a microscope is difficult. An image of the target often rotates and changes shape as it moves. Further, the difficulty increases with background changes and fluctuations of colors and the brightness because of differences in the surrounding environment. To address these problems, we propose a tracking method combined with robust image processing of the data obtained by the tracking system. Our system feeds image processing data back, and obtains accurate positions of swimming microorganisms in real-time.

关键词： biological techniques biomechanics brightness brightness cellular biophysics freely swimming microorganism tracking image coding image color fluctuation image colour analysis image matching image processing image registration image registration algorithm image rotation image sensors microorganisms nanobiotechnology object tracking orientation code matching visual feedback system visual servoing

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