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In this study, we estimate gaze direction using the relationship between the face and eyes. The face and eyes are divided laterally and in lengthwise direction. We set up an object laterally and in lengthwise direction and measured the face angle using a Kinect sensor, which is range image sensor, when gazing at an object. The angle of the eyes is fixed at the angle of the object and grasp of the...
This paper presents a system to support learning within museum for children as a novel application of Kinect based human sensing system. The system measures the physical movement of the learner using a Kinect sensor, and provides a sense of immersion in the paleontological environment by adapting the surroundings according to these movements. As the first stage of this project, we have developed a...
In this paper, the relationship between visual attention and eye blinking is described. In our experiment, we observed blinking when a subject performed a task. We determined that the subject's visual attention functions during the task by electrodermal activity. Experimental results showed that blink rate decreased when the subject's visual attention was engaged. On the other hand, blink rate increased...
Advanced driver assistance systems (ADASs) are making continuous progress in order to solve issues in vehicle traffic. However, drivers cannot adjust to these advances, because ADAS can assist even complicated driving behaviors that require higher skills. The more advanced the driving interactions ADAS can perform, the more risk the system may have when used by drivers who have insufficient knowledge...
The robotization of vehicles has accelerated in recent years. Although the automobile field previously placed importance on the research and development of hardware, that of software has recently been more important. Standardization, generalization, and renewability are needed for efficient research and development of software. However, software platforms for research and education are not sufficiently...
In this study, as a newform of mobility for single-seat cars, we realize "hard-link-type mobility" using a mechanical coupling device. This form of mobility makes it possible to connect or disconnect the vehicles as necessary. When the vehicles are coupled, the driver of the following vehicle does not need to drive because the vehicle follows the leading vehicle semi-automatically. Therefore,...
This paper presents an ankle-foot device using a Stewart platform, which is a type of parallel-link mechanism, for trip prevention support. The developed device can reproduce the input motions of the ankle joint in six degrees of freedom by controlling six pneumatic cylinders at the same time. The root mean square errors of the 3-D position and rotation angle of the reproduced motions with the input...
In this study, a new method was developed to automate vehicles. Numerous vehicle control systems have been realized for electronic steering, driving, and braking. Higher-standard vehicle control systems have increased costs. This study focused on cloud vehicle control using roadside sensors and computers. If a high-standard vehicle control system can be realized by using vehicles with no sensors or...
Virtual environments are required for safe testing of robot control programs. However, it is important that the virtual environment of the robot simulator adequately reproduces the color and shape information of a real environment. In this study, we use point cloud data obtained from multiple Kinect v2 sensors for building a virtual environment. The coordinate systems of the point clouds obtained...
Japan is facing difficulties with providing general public transport systems in depopulated cities. This paper proposes a new means of transport for application to such cities. The system is based on small electric vehicles with mechanical couplers that are designed to attach to devices installed at each home. Unfortunately, this system incurs an issue of enhancing the operability for drivers of the...
In this study, we propose a novel system that assesses pedestrians at high risk of collision and accordingly warns the driver of the vehicle. Numerous warning systems to prevent contact accidents between pedestrians and vehicles have recently been proposed. One desideratum of warning systems that prevalent systems lack is that they should only warn the driver about pedestrians that are at high risk...
This study proposes a vehicle-following control system for personal electric vehicles (EV). Recently, projects aimed at using personal vehicles to solve vehicle transportation problems associated with overcrowding in cities and depopulation in mountain villages have been under way in several regions in Japan. This study was conducted to contribute to improving mobility in depopulated regions by applying...
This study provides a new mode of transport in urban areas inhabited by many elderly people. In some of these areas, public transport systems are inadequate and parking spaces for private cars are in short supply. In addition, the decline of shopping malls around these areas makes life inconvenient for the inhabitants. Here we introduce a car-sharing service of vehicle-following personal vehicles...
Personal vehicle transit is focused on as a key technology to solve transit issues in Japan. Some traveling salesmen and deliverymen in urban areas travel using personal vehicles instead of vehicles or motorcycles. However, few families use personal vehicles. This study investigates coupling technologies that will encourage families to purchase personal vehicles. Coupling technologies should offer...
This study was conducted to increase the usefulness of personal vehicles. Single-occupant personal vehicles are easy to handle, but their load capacities are smaller than other types of vehicles. This paper presents a solution to this problem in the form of a system for vehicles that couple mechanically. However, if vehicles are only coupled, their performance in braking, accelerating, and steering...
This paper presents a novel ankle motion measuring device that can measure three-dimensional motions without a motion capture system (MCS). We adapted a parallel link mechanism for the device using six wire-type displacement sensors to measure the ankle joint motions in six degrees of freedom (six-DOF). We define the motions of a foot plate which is attached to a foot sole as ankle joint motions....
In recent times, the robotic vacuum cleaner Roomba has become popular in households. However, it might bump into or impede humans because it lacks the ability to recognize them. This study aims to provide Roomba with a human avoidance function through the use of environmental sensors. These sensors detect the positions of both a human and Roomba. Then, the sensors calculate and transmit the velocity...
The Cooperative Adaptive Cruise Control system (CACC) is an enhancement of the Adaptive Cruise Control system (ACC) that uses inter-vehicle communication to realize safe cruising at shorter inter-vehicle distance. To effectively communicate via broadcasting, a vehicle must identify the ID of the preceding vehicle, and extract that vehicle’s information from the information sent by surrounding vehicles...
This paper proposes robust bicycle rider detection method from video sequence. The proposed method does not confuse rider with similar shape pedestrian such as bicycle pusher. There are a large number of accidents happened while riding a bicycle. To prevent these accidents, bicycle rider detector is required for traffic monitoring camera system. Thus, many researches have been done in this filed....
The authors are developing a novel learning support system "Human SUGOROKU" by integration of ultrasonic sensors and Kinect sensors. The system is a relocatable large scale digital board game that human-players as its piece move on squares. To realize the system, we measure players locations and gestures identifying players, by integrating output information from both sensors. This paper...
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