Haruo Takemura | Osaka University (original) (raw)
Papers by Haruo Takemura
In this research, we present an object search framework using robot-gaze interaction that support... more In this research, we present an object search
framework using robot-gaze interaction that support patients
with motor paralysis conditions. A patient can give commands
by gazing to the target object and a robot starts to search au-
tonomously. Apart from multiple gaze interaction, our approach
uses few gaze interaction to specify location clue and object clue
and thus integrates the RGB-D sensing to segment unknown
objects from the environment. Based on hypotheses from gaze
information, we utilize multiregion Graph Cuts method along
with an analysis of depth information. Furthermore, our search
algorithm allows a robot to find a main observation point which
is the point where user can clearly observe the target object.
If a first segmentation was not satisfied by the user, the robot
is able to adapt its pose to find different views of object. The
approach has been implemented and tested on the humanoid
robot ENON. With a few gaze guidance, the success rate of
segmentation of unknown objects was achieved to be 85%. The
experimental results confirm its applicability on a wide variety
of objects even when the target object was occluded by another
object.
We propose an efficient method for detecting potential collisions among multiple objects with arb... more We propose an efficient method for detecting potential collisions among multiple objects with arbitrary motion (translation and rotation) in 3D space. The method is useful for online monitoring and path planning in a 3D environment in which there are multiple independently-moving objects. The method consists of two main stages: 1) the coarse stage, an approximate test is performed to identify interfering objects in the entire workspace using octree representation of object shapes; and 2) the fine stage, polyhedral representation of object shapes is used to more accurately identify any object parts that might cause interference and collisions. For this purpose, specific pairs of faces belonging to any of the interfering objects found in the first stage are tested, thus performing detailed computation on a reduced amount of data. Experimental results, which demonstrate the efficiency of the proposed collision detection method, are given
... Haruo Takemura and Fumio Kishino ATR Communication Systems Reserch Labolarories 2-2Hikari-dai... more ... Haruo Takemura and Fumio Kishino ATR Communication Systems Reserch Labolarories 2-2Hikari-dai, Seika-eho, Soraku, Kyoto 619-02 JAPAN +81-7749-5-1211 takemura@atmsw.atr. co.jp ... 1280x480 stereo IRIS 4D 240 VGX ~ Igzoobps ~ Figure 3. System overview 227 ...
... based on the ways we interact with a real world[ 1,221. Fisher et al. built a prototype syste... more ... based on the ways we interact with a real world[ 1,221. Fisher et al. built a prototype system of virtual reality for telerobotics application[3]. Sturman et al. studied the possibilities of using hand gestures in an interactive environment ...
Teleoperators and Virtual Environments, 1998
Abstract: This paper proposes a new hand gesture recogni-tion method using a 3D prediction model ... more Abstract: This paper proposes a new hand gesture recogni-tion method using a 3D prediction model used for develop-ing human-computer interfaces. It focuses on real-time hand-pose estimation which is indispensable for virtual ob-ject manipulation. In the first stage, simple but ...
Journal of Visual Communication and Image Representation, 1995
We propose an accurate collision detection algorithm for use in virtual reality applications. The... more We propose an accurate collision detection algorithm for use in virtual reality applications. The algorithm works for three-dimensional graphical environments where multiple objects, represented as polyhedra (boundary representation), are undergoing arbitrary motion (translation and rotation). The algorithm can be used directly for both convex and concave objects and objects can be deformed (non-rigid) during motion. The algorithm works efficiently by first reducing the number of face pairs that need to be checked accurately for interference by first localizing possible collision regions using bounding box and spatial subdivision techniques; face pairs that remain after this pruning stage are then accurately checked for interference. The algorithm is efficient, simple to implement, and does not require any memory intensive auxiliary data structures to be precomputed and updated. Since polyhedral shape representation is one of the most common shape representation schemes, this algorithm should be useful to a wide audience. Performance results are given to show the efficiency of the proposed method
IEEE Multimedia, 2000
d confirmation stages for both shape andbehavioral design by providing shape and constrainingprim... more d confirmation stages for both shape andbehavioral design by providing shape and constrainingprimitives in an immersive environment.That is, users can design reactive objects bysimply deforming and assembling these primitivesin a unified and comprehensible manner.8Collaboration supportSoftware researchers have developed a numberof shared virtual environments (SVEs) to supportflexible spatial collaboration.9,10These provideadaptable control over the location and scale oftheir...
... experiment described later, it was confirmed that two-handed interaction improves the efficie... more ... experiment described later, it was confirmed that two-handed interaction improves the efficiency of human-computer interaction in a ... The collision avoidance is performed as follows. ... block move toward the corresponding 3-D cursor in X direction (of the coordinate system of the ...
This paper proposes a robust registration method with stereo cameras and an inertial sensor for a... more This paper proposes a robust registration method with stereo cameras and an inertial sensor for augmented reality. The geometric registration is one of the most important problems because virtual objects should be superimposed on the right place as if they really exist in the real world. The vision-based registration is achieved by estimating a position and an orientation of camera(s)
This paper presents a new method to generate and present arbitrarily directional binocular stereo... more This paper presents a new method to generate and present arbitrarily directional binocular stereo images from a sequence of omnidirectional images. A sequence of omnidirectional images is taken by moving an omnidirectional image sensor in a static real environment. The motion of the omnidirectional image sensor is constrained to a plane. The sensor's route and speed are known. In the proposed method, a fixed length of the sequence is buffered in a computer to generate arbitrarily directional binocular stereo images by combining captured rays. Using the method a user can look around a scene in the distance with rich 3D sensation without significant time delay. This paper describes the principle of real-time generation of binocular stereo images. In addition, we introduce a prototype telepresence system of view-dependent stereo image generation and presentation
Describes a prototype of an augmented reality system using vision-based registration. In order to... more Describes a prototype of an augmented reality system using vision-based registration. In order to build an augmented reality system with video see-through image composition, camera parameters for generating virtual objects must be obtained at video-rate. The system estimates camera parameters from four known markers in an image sequence captured by a small CCD camera mounted on a HMD (head mounted display). Virtual objects are overlaid upon a captured image sequence in real-time
In this research, we present an object search framework using robot-gaze interaction that support... more In this research, we present an object search
framework using robot-gaze interaction that support patients
with motor paralysis conditions. A patient can give commands
by gazing to the target object and a robot starts to search au-
tonomously. Apart from multiple gaze interaction, our approach
uses few gaze interaction to specify location clue and object clue
and thus integrates the RGB-D sensing to segment unknown
objects from the environment. Based on hypotheses from gaze
information, we utilize multiregion Graph Cuts method along
with an analysis of depth information. Furthermore, our search
algorithm allows a robot to find a main observation point which
is the point where user can clearly observe the target object.
If a first segmentation was not satisfied by the user, the robot
is able to adapt its pose to find different views of object. The
approach has been implemented and tested on the humanoid
robot ENON. With a few gaze guidance, the success rate of
segmentation of unknown objects was achieved to be 85%. The
experimental results confirm its applicability on a wide variety
of objects even when the target object was occluded by another
object.
We propose an efficient method for detecting potential collisions among multiple objects with arb... more We propose an efficient method for detecting potential collisions among multiple objects with arbitrary motion (translation and rotation) in 3D space. The method is useful for online monitoring and path planning in a 3D environment in which there are multiple independently-moving objects. The method consists of two main stages: 1) the coarse stage, an approximate test is performed to identify interfering objects in the entire workspace using octree representation of object shapes; and 2) the fine stage, polyhedral representation of object shapes is used to more accurately identify any object parts that might cause interference and collisions. For this purpose, specific pairs of faces belonging to any of the interfering objects found in the first stage are tested, thus performing detailed computation on a reduced amount of data. Experimental results, which demonstrate the efficiency of the proposed collision detection method, are given
... Haruo Takemura and Fumio Kishino ATR Communication Systems Reserch Labolarories 2-2Hikari-dai... more ... Haruo Takemura and Fumio Kishino ATR Communication Systems Reserch Labolarories 2-2Hikari-dai, Seika-eho, Soraku, Kyoto 619-02 JAPAN +81-7749-5-1211 takemura@atmsw.atr. co.jp ... 1280x480 stereo IRIS 4D 240 VGX ~ Igzoobps ~ Figure 3. System overview 227 ...
... based on the ways we interact with a real world[ 1,221. Fisher et al. built a prototype syste... more ... based on the ways we interact with a real world[ 1,221. Fisher et al. built a prototype system of virtual reality for telerobotics application[3]. Sturman et al. studied the possibilities of using hand gestures in an interactive environment ...
Teleoperators and Virtual Environments, 1998
Abstract: This paper proposes a new hand gesture recogni-tion method using a 3D prediction model ... more Abstract: This paper proposes a new hand gesture recogni-tion method using a 3D prediction model used for develop-ing human-computer interfaces. It focuses on real-time hand-pose estimation which is indispensable for virtual ob-ject manipulation. In the first stage, simple but ...
Journal of Visual Communication and Image Representation, 1995
We propose an accurate collision detection algorithm for use in virtual reality applications. The... more We propose an accurate collision detection algorithm for use in virtual reality applications. The algorithm works for three-dimensional graphical environments where multiple objects, represented as polyhedra (boundary representation), are undergoing arbitrary motion (translation and rotation). The algorithm can be used directly for both convex and concave objects and objects can be deformed (non-rigid) during motion. The algorithm works efficiently by first reducing the number of face pairs that need to be checked accurately for interference by first localizing possible collision regions using bounding box and spatial subdivision techniques; face pairs that remain after this pruning stage are then accurately checked for interference. The algorithm is efficient, simple to implement, and does not require any memory intensive auxiliary data structures to be precomputed and updated. Since polyhedral shape representation is one of the most common shape representation schemes, this algorithm should be useful to a wide audience. Performance results are given to show the efficiency of the proposed method
IEEE Multimedia, 2000
d confirmation stages for both shape andbehavioral design by providing shape and constrainingprim... more d confirmation stages for both shape andbehavioral design by providing shape and constrainingprimitives in an immersive environment.That is, users can design reactive objects bysimply deforming and assembling these primitivesin a unified and comprehensible manner.8Collaboration supportSoftware researchers have developed a numberof shared virtual environments (SVEs) to supportflexible spatial collaboration.9,10These provideadaptable control over the location and scale oftheir...
... experiment described later, it was confirmed that two-handed interaction improves the efficie... more ... experiment described later, it was confirmed that two-handed interaction improves the efficiency of human-computer interaction in a ... The collision avoidance is performed as follows. ... block move toward the corresponding 3-D cursor in X direction (of the coordinate system of the ...
This paper proposes a robust registration method with stereo cameras and an inertial sensor for a... more This paper proposes a robust registration method with stereo cameras and an inertial sensor for augmented reality. The geometric registration is one of the most important problems because virtual objects should be superimposed on the right place as if they really exist in the real world. The vision-based registration is achieved by estimating a position and an orientation of camera(s)
This paper presents a new method to generate and present arbitrarily directional binocular stereo... more This paper presents a new method to generate and present arbitrarily directional binocular stereo images from a sequence of omnidirectional images. A sequence of omnidirectional images is taken by moving an omnidirectional image sensor in a static real environment. The motion of the omnidirectional image sensor is constrained to a plane. The sensor's route and speed are known. In the proposed method, a fixed length of the sequence is buffered in a computer to generate arbitrarily directional binocular stereo images by combining captured rays. Using the method a user can look around a scene in the distance with rich 3D sensation without significant time delay. This paper describes the principle of real-time generation of binocular stereo images. In addition, we introduce a prototype telepresence system of view-dependent stereo image generation and presentation
Describes a prototype of an augmented reality system using vision-based registration. In order to... more Describes a prototype of an augmented reality system using vision-based registration. In order to build an augmented reality system with video see-through image composition, camera parameters for generating virtual objects must be obtained at video-rate. The system estimates camera parameters from four known markers in an image sequence captured by a small CCD camera mounted on a HMD (head mounted display). Virtual objects are overlaid upon a captured image sequence in real-time