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13th IEEE Global Conference on Consumer Electronic, GCCE 2024

作者： Zhang, Luoxi Xie, Chun Kitahara, Itaru University of Tsukuba Doctoral Program in Empowerment Informatics Tsukuba Japan University of Tsukuba Center for Computational Science Tsukuba Japan

ISBN: (纸本)9798350355079

While scene modeling is widely used in various fields such as VR/AR and 3D art asset creation, it usually requires multiple viewpoint images captured by calibrated cameras, which make difficult to realize practical applications. This paper proposes a method for 3D scene reconstruction from a single snapshot based on RGB-D information without camera parameters. Mask-RCNN are used to separate the foreground and background, and pretrained deep neural network is applied to infer the human mesh of the foreground region. Image inpainting, monocular depth estimation using MiDaS, and point cloud processing are combined to generate the 3D background point cloud. Finally, the foreground and background are integrated to achieve modeling the 3D scene. © 2024 IEEE.

关键词： 3D reconstruction

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A 3D Model Generation from a Single Snapshot in Outdoor Scene

A 3D Model Generation from a Single Snapshot in Outdoor Scen...

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IEEE Global Conference on Consumer Electronics (GCCE)

作者： Luoxi Zhang Chun Xie Itaru Kitahara Doctoral Program in Empowerment Informatics University of Tsukuba Tsukuba Japan Center for Computational Science University of Tsukuba Tsukuba Japan

ISBN: (数字)9798350355079

ISBN: (纸本)9798350355086

关键词： Point cloud compression Solid modeling Three-dimensional displays Computational modeling Artificial neural networks Cameras Hardware Image reconstruction Consumer electronics Load modeling

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3D Reconstruction of Bone from Multi-View X-Ray Images Using Planar Markers 4

3D Reconstruction of Bone from Multi-View X-Ray Images Using...

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4th IEEE Global Conference on Life Sciences and Technologies, LifeTech 2022

作者： Shrestha, Pragyan Xie, Chun Shishido, Hidehiko Yoshii, Yuichi Kitahara, Itaru University of Tsukuba Doctoral Program in Empowerment Informatics Tsukuba Japan University of Tsukuba Center for Computational Sciences Tsukuba Japan Tokyo Medical University Ibaraki Medical Center Ami Japan

ISBN: (纸本)9781665419048

This paper proposes a method to reconstruct 3D bone structure from multi-view X-ray images using a fiducial marker placing five lead balls on a plane attached to the target object. An estimation pipeline for relative pose of the camera and the subject is established to obtain 2D-3D projective geometry for each frame. The target object is rotated such that the planar markers remain in the field of view, to acquire projections images. The 3D voxel volume is reconstructed using the estimated pose as the input to a Simultaneous Algebraic Reconstruction Technique (SART) algorithm. We conduct experiments using a C-arm fluoroscopy of a bone phantom for qualitative evaluation of the proposed method. © 2022 IEEE.

关键词： Image reconstruction

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Superimposition of 3D Dynamic Objects on a Static Environment for Driver Assistance System 10

Superimposition of 3D Dynamic Objects on a Static Environmen...

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10th IEEE Global Conference on Consumer Electronics, GCCE 2021

作者： Zhang, Haihan Shishido, Hidehiko Kitahara, Itaru Empowerment Informatics Program University of Tsukuba Ibaraki Japan Center For Computational Sciences University of Tsukuba Ibaraki Japan

ISBN: (纸本)9781665436762

With the development of sensor accuracy and optimization algorithms, Advanced Driver Assistance System (ADAS) has been widely used on vehicles to achieve level 3 of automatic driving. Vision-based dense mapping is one of the most essential solutions in ADAS to help vehicles sensing surroundings. However, traditional methods could only reconstruct a 3D map of a static environment because the occlusion of dynamic objects on the environment map. Moreover, dynamic environment is hard to be 3D modeled in real-time because of the limitation of computing power and algorithm complexity. To make the dynamic scene visible in a 3D point cloud, this paper proposes a system that superimposes dynamic objects on a static environment in real-time. The static environment is reconstructed by aerial multi-view images from the unmanned aerial vehicle (UAV) in advance to reduce the required computing power. Dynamic objects point cloud is generated from disparity maps generated by a consumer stereo-camera frame by frame. To superimpose the dynamic objects on the global 3D static map, a plane segmentation method is applied to reduce the mismatching for global point cloud registration. The result shows that the registration fitness reaches 79.8%, which is applied for the fusion of multiple measuring methods. © 2021 IEEE.

关键词： Advanced driver assistance systems

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One Shot 3D Reconstruction by Observing Multiple Spherical Mirrors 10

One Shot 3D Reconstruction by Observing Multiple Spherical M...

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10th IEEE Global Conference on Consumer Electronics, GCCE 2021

作者： Hiruta, Yuya Shishido, Hidehiko Kitahara, Itaru University of Tsukuba Doctoral Program In Empowerment Informatics Tsukuba Japan University of Tsukuba Center For Computational Sciences Tsukuba Japan

ISBN: (纸本)9781665436762

Since 3D information is helpful to 3D scene observation and recognition, 3D information acquisition and display technologies are used in various fields. Several methods to acquire 3D information such as laser scanner (LiDAR), time of flight (ToF) sensor and 3D photogrammetry from multi-view images are under active development. However, the common disadvantage of these methods is that they require a special equipment or large-scale observation system. This paper proposes a method to estimate 3D information from a monocular image that pseudo captures multi-view images. It utilizes a catadioptric imaging system given by multiple (at least two) curved mirrors and stereo-vision technique. The catadioptric imaging system has a wider field of view than that of a typical camera based on perspective projection. It is suitable for reconstructing 3D information of open spaces with a monocular image. We confirm the quality of estimated 3D information by generating arbitrary viewpoint images. © 2021 IEEE.

关键词： Imaging systems

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M3D: Dual-Stream Selective State Spaces and Depth-Driven Framework for High-Fidelity Single-View 3D Reconstruction

arXiv

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arXiv 2024年

作者： Zhang, Luoxi Shrestha, Pragyan Zhou, Yu Xie, Chun Kitahara, Itaru Doctoral Program in Empowerment Informatics University of Tsukuba Japan Center for Computational Science University of Tsukuba Japan Department of Data Science and Artificial Intelligence The Hong Kong Polytechnic University China

The precise reconstruction of 3D objects from a single RGB image in complex scenes presents a critical challenge in virtual reality, autonomous driving, and robotics. Existing neural implicit 3D representation methods face significant difficulties in balancing the extraction of global and local features, particularly in diverse and complex environments, leading to insufficient reconstruction precision and quality. We propose M3D, a novel single-view 3D reconstruction framework, to tackle these challenges. This framework adopts a dual-stream feature extraction strategy based on Selective State Spaces to effectively balance the extraction of global and local features, thereby improving scene comprehension and representation precision. Additionally, a parallel branch extracts depth information, effectively integrating visual and geometric features to enhance reconstruction quality and preserve intricate details. Experimental results indicate that the fusion of multi-scale features with depth information via the dual-branch feature extraction significantly boosts geometric consistency and fidelity, achieving state-of-the-art reconstruction performance. Our code and dataset are publicly available at this URL. © 2024, CC BY-NC-ND.

关键词： 3D reconstruction

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A Novel Wearable Mobility Device Adapting to Posture of Wearer and Environments with Steps 21st

A Novel Wearable Mobility Device Adapting to Posture of Wear...

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21st International Conference on Human-Computer Interaction, HCI International 2019

作者： Takashima, Rintaro Kuwahara, Takashi Imahori, Masanobu Program in Empowerment Informatics School of Integrative and Global Majors University of Tsukuba Tsukuba Japan

ISBN: (纸本)9783030235246

Personal mobility devices that can extend mobility functions of healthy person have been developed. However, conventional personal mobility device has some aspects that restrict the mobility functions of person since these devices have no ability to go up and down steps and to use freely because of portability. Thus, we propose a novel concept of mobility device that has ability to wear and to take advantage of the walking functions of person. It seems that it is possible to extend the mobility functions even in environments with steps. In this paper, we propose and develop a novel wearable mobility device that can wear, and go up and down steps. Our wearable mobility device consists of seat, frame, in-wheel motors and casters. The seat which has two load-cells is used as an interface for connecting a wearer to our mobility device and controlling our mobility device. The frame has two free joints each leg. Thus, the frame can realize states of sitting and standing. We carried out experiments to confirm that a participant with our wearable mobility device has the ability to walk, go up and down steps, and run with in-wheel motors. As the results of experiments, our wearable mobility device has the abilities to walk, go up and down steps, and run with in-wheel motors. In conclusion, we developed a novel wearable mobility device and confirmed that our wearable mobility device has feasibility to extend mobility functions of healthy person by adapting to human posture and steps. © Springer Nature Switzerland AG 2019.

关键词： Wearable technology

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A Development of Color Lighting Device to Indicate Subjective Palatability

A Development of Color Lighting Device to Indicate Subjectiv...

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IEEE/SICE International Symposium on System Integration

作者： Akira Kashihara Tomoyuki Yamaguchi Program in Empowerment Informatics Empowerment Informatics 1-1-1 Tennodai Tsukuba Ibaraki Japan Faculty of Engineering Information and Systems University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki Japan

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

This study aims to realize a display subjective palatability device to facilitate emotional communication with family or friends at mealtime. Of late, the importance of eating together where family and friends gather and eat together is increasing. However, each member of the family or community eats separated foods at mealtimes. This situation weakens the community bonding because it becomes difficult for people to empathize with the subjective emotion. Therefore, this paper describes a novel device that can help in sharing the subjective palatability of humans who eat together. The proposed device makes humans perceive the subjective palatability of their friends who are eating by using an appropriate color of the LED. In the experiments, we have confirmed that the colors blue and orange expresses the color of subjective palatability, and the experiment of transmitting the subjective palatability of the proposed device using those colors was conducted to evaluate the accuracy and speed of meal communication.

关键词： Color Light emitting diodes Bonding Lighting Automobiles Heart Pulse width modulation

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Development of a Steep Slope Mobile Robot with Propulsion Adhesion*

Development of a Steep Slope Mobile Robot with Propulsion Ad...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yuki Nishimura Tomoyuki Yamaguchi Ph. D. Program in Empowerment Informatics University of Tsukuba School of Integrative and Global Majors Tsukuba Japan Faculty of Engineering Information and Systems University of Tsukuba Ibaraki Japan

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

A mobile robot that can achieve a stable attitude and locomotion on steep slopes is needed to overcome the problems of slipping and falling for automation of works on steep slopes. The conventional approaches to achieve a stable attitude and locomotion have been researched by adopting tracked wheels and multi-legged mechanisms instead of wheel mechanisms. However, these robots have limitations in term of application angles. A systematic theory for stable attitude and locomotion on steep slopes has not been established. Therefore, research on control strategies for wheeled mobile robots on steep slopes is essential. In this paper, a method to realize a stable attitude and locomotion on a steep slope for the wheeled mobile robot by using propellers for propulsion adhesion is proposed. The proposed robot can generate a large frictional force by pushing its body against the slope with a thrust force. This force prevents the robot from slipping while maneuvering on the slope. The magnitude and the direction of the thrust force is optimized using an appropriate control mechanism influencing the moment of force acting on it to avoid falling and side slipping during locomotion on steep slopes. A simulation experiment was conducted from the perspective of mechanics and dynamics to arrive at an optimal design of the mobile robot. The developed robot has four propellers to generate thrust forces and a rotation axis to control the direction of the generated thrust forces. Evaluation experiments were performed to validate the stability of the robot at a resting position and during lateral locomotion and its ability to climb over a slope. The experimental results confirmed that the proposed robot with propellers realized a steady attitude and locomotion on a slope of up to 90° by controlling the magnitude and the direction of the thrust force.

关键词： Propellers Adhesives Force Wheels Propulsion Mobile robots Robots

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Real-time Snowboard Training System for a Novice Using Visual and Auditory Feedback

Real-time Snowboard Training System for a Novice Using Visua...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Takashi Kuwahara Itsuki Takahashi Shintaro Harikae Ph.D. Program in Empowerment Informatics School of Integrative and Global Majors University of Tsukuba Ibaraki Japan Independent Ibaraki Japan Graduate School of Systems and Information Engineering University of Tsukuba Ibaraki Japan

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

In snowboard training, it is especially important to learn proper weight transfer and to perceive a gap between the perceived movement and the actual body movement. However, previous training systems don't have sufficient function, and the effectiveness of each feedback on weight transfer, which includes not only the front and back but also left and right has not been reported. In this study, we propose and develop a real-time snowboard training system for a novice using visual and auditory feedback, and confirm its basic performance and effectiveness of each feedback. This system mainly consists of four components: (1) a center of pressure (COP) detection device, (2) a posture estimation device, (3) a visual feedback device, (4) an auditory feedback device. We experimented to confirm the feasibility to enhance motor learning by using the developed system and to evaluate the effectiveness of each feedback on weight transfer, which includes not only the front and back but also left and right. In conclusion, we developed a real-time snowboard training system for a novice using visual and auditory feedback and confirmed that our system could assist the proper weight transfer. Furthermore, in short-term learning, we confirmed that the effectiveness of each feedback, and visual feedback or visual and auditory feedback is the best way to enhance motor learning.

关键词： Training Visualization Protocols Snow Real-time systems Floors Sports

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