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2017 IEEE/SICE International Symposium on System Integration (SII)最新文献

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Recognizing outdoor scenes by convolutional features of omni-directional LiDAR scans 利用全向激光雷达扫描的卷积特征识别室外场景
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279243
Kazuto Nakashima, S. Nham, Hojung Jung, Y. Iwashita, R. Kurazume, Óscar Martínez Mozos
{"title":"Recognizing outdoor scenes by convolutional features of omni-directional LiDAR scans","authors":"Kazuto Nakashima, S. Nham, Hojung Jung, Y. Iwashita, R. Kurazume, Óscar Martínez Mozos","doi":"10.1109/SII.2017.8279243","DOIUrl":"https://doi.org/10.1109/SII.2017.8279243","url":null,"abstract":"We present a novel method for the outdoor scene categorization using 2D convolutional neural networks (CNNs) which take panoramic depth images obtained by a 3D laser scanner as input. We evaluate our approach in two outdoor scene datasets including six categories: coast, forest, indoor parking, outdoor parking, residential area, and urban area. Our results on both datasets (over 94%) outperform previous approaches and show the effectiveness of this approach for outdoor scene categorization using depth images. To analyze our trained networks we visualize the learned features by using two visualization methods.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132581786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Detection of a specific moving object from head-mounted camera images 从头戴式摄像机图像中检测特定的移动物体
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279323
Katsuma Ishitobi, J. Tan, Hyoungseop Kim, S. Ishikawa
{"title":"Detection of a specific moving object from head-mounted camera images","authors":"Katsuma Ishitobi, J. Tan, Hyoungseop Kim, S. Ishikawa","doi":"10.1109/SII.2017.8279323","DOIUrl":"https://doi.org/10.1109/SII.2017.8279323","url":null,"abstract":"In this paper, a method is proposed for detecting and tracking a specific moving object (e.g., a bus) on the road from images of a camera attached to the head of a user, aiming at developing a system to support daily lives of visually impaired people. The proposed method traces feature points on the images, extracts a moving object region, and detects a bus by applying Haar-like feature and random trees to the region. The effectiveness of the proposed method is shown experimentally.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"219 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116402799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
A novel 3D-printing repair of surface cracks for improving the mechanical strength 一种新型的3d打印修复表面裂纹，以提高机械强度
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279207
Yuanfei Zhang, S. Fan, Zhibin Li, Hong Liu
{"title":"A novel 3D-printing repair of surface cracks for improving the mechanical strength","authors":"Yuanfei Zhang, S. Fan, Zhibin Li, Hong Liu","doi":"10.1109/SII.2017.8279207","DOIUrl":"https://doi.org/10.1109/SII.2017.8279207","url":null,"abstract":"A novel 3D-printing repair is proposed based on Fused Deposition Modeling (FDM) for improving the mechanical strength of the objects with surface cracks. Compared to the traditional FDM-based technique, the novelty of our proposed approach is that the extruding and moving directions of the printing nozzle are controllable and thus variable, eliminating any restriction of orthogonal alignment. This permits essential physical contact between the nozzle and the cracked area that allows the nozzle to remove surface material that might be covered by dust, as well as the heat transfer that preheats the inner material before being combined with the extruding one. Hence, the proposed approach can strengthen the bonding strength of materials to a great extent, particularly when the environmental temperature is not in a suitable range. Experimental results show that the mechanical strength of the objects with surface cracks is significantly improved by our proposed approach of 3D-printing repair compared to that produced by the traditional one.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121825782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Implementation of CAM programming with machinability database 利用可加工性数据库实现CAM编程
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279218
C. Chung, Tayler Ma
{"title":"Implementation of CAM programming with machinability database","authors":"C. Chung, Tayler Ma","doi":"10.1109/SII.2017.8279218","DOIUrl":"https://doi.org/10.1109/SII.2017.8279218","url":null,"abstract":"This study aims to improve the efficiency and accuracy of computer-aided manufacturing (CAM) engineers. A CAM assistant program, which includes the tool-path planning, cutting tool database, and cutting chatter modules, was developed using the application programming interface (API) provided by Siemens CAD / CAM software NX. The module of tool-path planning can recognize processing parts to decide suitable operation and corresponding processing strategy for the part, which is essential to generate the cutting tool-path. The module of cutting tool database is connected to a MySQL database, in which the suitable cutting parameters of each cutting tool for different materials are saved. The parameters are obtained from the cutting tool manufacturers or the users who conducted abundant machinability tests. The module of cutting tool database can help CAM engineers to extract the correct cutting parameters from the cutting tool database. In addition, the module of cutting chatter includes the stability lobe diagrams, which can be used to determine the cutting stability of the machining parameters. The stable area shown in the stability lobe diagram is the range of cutting parameters which would not introduce chatter. It can be used to compare with the original designed machining parameters and adjust the parameters into stable range. With the developed modules in this study, it is expected to reduce the time to design NC programs and to improve the reasonability of the cutting strategy. Furthermore, the productivity will be increased.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125899392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Development of a mobile robot for harvest support in greenhouse horticulture — Person following and mapping 温室园艺收获支持移动机器人的研制——人跟踪与制图
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279277
Hiroaki Masuzawa, J. Miura, Shuji Oishi
{"title":"Development of a mobile robot for harvest support in greenhouse horticulture — Person following and mapping","authors":"Hiroaki Masuzawa, J. Miura, Shuji Oishi","doi":"10.1109/SII.2017.8279277","DOIUrl":"https://doi.org/10.1109/SII.2017.8279277","url":null,"abstract":"Agriculture has been suffering from many problems nowadays, and labor shortage is one of the most serious ones. Automation of agricultural works is a possible solution and many efforts have been made for developing harvest support robots. This paper discusses an application of mobile robot technologies to harvest support in the greenhouse horticulture domain. Although there are several harvest support robots for fruits and vegetables, they usually require modification of a greenhouse for autonomous navigation. We therefore aim to develop a mobile robot that can operate and support harvesting works in normal greenhouses, especially for flowers. Based on an investigation of necessary technologies for harvest support robots, we develop a prototype mobile robot with person following and 3D mapping capabilities. We performed preliminary experiments in a real greenhouse and evaluated the developed robot system.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124491331","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 23
Study on controlling three-dimensional plugin-docking motion with the active-caster omnidirectional robot 主动脚轮全向机器人三维外挂对接运动控制研究
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279293
T. Phong, M. Wada
{"title":"Study on controlling three-dimensional plugin-docking motion with the active-caster omnidirectional robot","authors":"T. Phong, M. Wada","doi":"10.1109/SII.2017.8279293","DOIUrl":"https://doi.org/10.1109/SII.2017.8279293","url":null,"abstract":"This paper presents a new battery recharging method called “Plugin-docking system” to solve the recharging problem for mobile robot. The proposed system includes a camera and charging plug set on the height control system that installed in the Omni-directional robot with three Active-casters. The captured image by the camera is disposed the binarization process by using the threshold values setting method in order to detect the wall outlet position. According to the calculated outlet position from this process, the three-dimensional plugin-docking into the outlet is conducting by using the Omni-directional mobile robot movements. The advanced feature of this proposed system is that achieved the detecting and plugging into a standard outlet with no marker, so on, in millimeter-scale precision only by the robot movement, without using a robot arm or an exclusive docking station. From the experiment results using a prototype, it is confirmed that the proposed Plugin-docking system has high success rate 100% and expected reliability.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117308372","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Analysis of gaze information on actual pedestrian behavior in open space — Which body part of an oncoming pedestrian do people gaze at? 开放空间中行人实际行为的凝视信息分析——人们会凝视迎面而来的行人的哪个身体部位?
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279304
Yusuke Arai, S. Yokota, Kazuaki Yamada, A. Matsumoto, D. Chugo, H. Hashimoto
{"title":"Analysis of gaze information on actual pedestrian behavior in open space — Which body part of an oncoming pedestrian do people gaze at?","authors":"Yusuke Arai, S. Yokota, Kazuaki Yamada, A. Matsumoto, D. Chugo, H. Hashimoto","doi":"10.1109/SII.2017.8279304","DOIUrl":"https://doi.org/10.1109/SII.2017.8279304","url":null,"abstract":"The major target of this research is to study the design guidelines for a mobile robot that allows people to easily recognize the direction of movement of the robot in the scenes where a person and a robot pass each other. In general, the design of a robot that coexists with people often incorporates the human movement and the sensory characteristics in order to let the robot behave like a human. This study also adopts this methodology and take into account the human behavioral characteristics so that a person can easily recognize the moving direction of the robot. Therefore, in this paper, we take up the scene where person (subject) and person (an oncoming pedestrian) pass each other, and conduct the experiment to clarify that how the subject passes each other by focusing on how the subject estimates the moving direction of the oncoming pedestrian and which body part of the oncoming pedestrian the subject observes. In this experiment, using the gaze measurement system, we analyzed the gaze region and transition of the subject in the period immediately before passing each other. As a result, it was found that in the period just before people passed each other, the subjects watched an oncoming pedestrians' chest. From the gaze transition every 0.1 seconds, it also turned out that the variances of their line of sight is small. By these results, it was found that the gaze of the subjects who passed each other is focused on the others' chest and its vicinity.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115244805","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
New robot technology challenge for convenience store 便利店面临新的机器人技术挑战
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279367
K. Wada
{"title":"New robot technology challenge for convenience store","authors":"K. Wada","doi":"10.1109/SII.2017.8279367","DOIUrl":"https://doi.org/10.1109/SII.2017.8279367","url":null,"abstract":"Future Convenience Store Contest is a new robot technology challenge which aims to automate various tasks (e.g. display/disposing, customer interaction, cleaning) at convenience store. By setting familiar and practical tasks, the contest encourage innovation of service robot technology that is lagging in practical applications. At the same time, in order to create new image of future convenience store with robot technology, ideas about new services and convenience store design are asked the public. This paper explain design award and overview of robot technology challenge.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127501021","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 31
Investigation of tip-over condition for tracked vehicles climbing over an obstacle on a slope 履带式车辆翻越斜坡上障碍物时翻倒情况的研究
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279209
Ryosuke Yajima, K. Nagatani
{"title":"Investigation of tip-over condition for tracked vehicles climbing over an obstacle on a slope","authors":"Ryosuke Yajima, K. Nagatani","doi":"10.1109/SII.2017.8279209","DOIUrl":"https://doi.org/10.1109/SII.2017.8279209","url":null,"abstract":"Unmanned investigation of disaster sites using robots has become indispensable in avoiding the risk of secondary disasters or those associated with restricted areas. In fact, in cases of extended periods of investigation or detailed exploration of critical sites, tracked vehicles have proved to be quite useful. However, as a tracked vehicle traverses the terrain, it may be necessary for it to climb and negotiate unfixed obstacles such as loose rocks and rubble. Such cases could result in serious problems. The vehicle could tip-over or slide down as it rolls along with loose obstacles. The primary purpose of this research is to understand how these problems develop. In this paper, the geometric tip-over conditions relative to a basic obstacle were derived, and whether those conditions apply to fixed obstacles and unfixed obstacles was investigated through an experiment.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127028529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Fisheye camera's intrinsic parameter estimation using trajectories of feature points obtained from camera rotation 利用摄像机旋转得到的特征点轨迹估计鱼眼相机的固有参数
2017 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2017-12-01 DOI: 10.1109/SII.2017.8279275
Akihiko Hishigi, Yuki Tanaka, Gakuto Masuyama, K. Umeda
{"title":"Fisheye camera's intrinsic parameter estimation using trajectories of feature points obtained from camera rotation","authors":"Akihiko Hishigi, Yuki Tanaka, Gakuto Masuyama, K. Umeda","doi":"10.1109/SII.2017.8279275","DOIUrl":"https://doi.org/10.1109/SII.2017.8279275","url":null,"abstract":"This paper proposes a simple method of estimating fisheye camera's intrinsic parameters without calibration targets. This method takes advantage of the trajectories of feature points in the scene. The trajectories of feature points are obtained from a rotation movement of the camera around the vertical axis. The feature points are utilized for calibration, thus specific calibration targets are not required. The proposed method estimates intrinsic parameters of a real fisheye camera. The validity of the proposed method is verified by the perspective projection of a distorted image using estimated parameters. In addition, this paper compares the results of perspective projection using the proposed method and the conventional method.","PeriodicalId":309023,"journal":{"name":"2017 IEEE/SICE International Symposium on System Integration (SII)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125696010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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