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We propose new methods of localization for a robot from surround views and dead reckoning data. Localization is one of very important techniques for autonomous robots, e. g. in RoboCup (autonomous robot succor league). Recently a resetting Monte Carlo localization (ML) method was proposed. But the method cannot deal with successive outliers well. The methods we proposed in this paper are improvements...
Vehicle classification is very important in traffic flow analysis for traffic monitoring systems. Accurate estimation of wheel baseline length can provide a useful cue for vehicle classification. In this paper, we propose a new method for detecting accurate wheel center points and estimating the wheel baseline length of a vehicle taking the distortion in the circular fisheye images into consideration...
In this paper, we propose a reliability based Web information ranking system which enables searching useful and reliable knowledge information. The proposed system will contain subsystems for reliability ranking, information clustering based on reliability. The reliability ranking system will estimate the likelihood that a statement on the Web can be trusted using standards developed by information...
In this paper, we propose a new method for detecting tire-road contact points and estimating the position of a vehicle on a road taking the distortion in a circular fisheye image into consideration. In our proposed method, we use the distortional parameter of two concentric circles composed of the inner wheel and the outer tire by considering projection system of fisheye lens, and the searching the...
Collision detection is one of most important techniques in machine control. In RoboCup (robot project) 4-legged league, a collision causes an incorrect localization. Recently collision detection methods using joint data and methods using acceleration sensors were proposed. But they needed a lot of memories or often caused false recognition. We propose three methods to detect collision using frequency...
We propose a hierarchical display method for small devices based on saliency. This method displays a large scale image in a small screen of a small mobile device as a mobile phone. In this method a region of interest (ROI) is detected using a saliency model. The region is successively detected hierarchically to produce a tree structure of ROI. Then we calculate the increasing rate of saliency in each...
This paper proposes a new and compact method for object image retrieval fusing Dominant Colors (DCs) and embedded Markov chain concepts. This proposed method uses combined color-texture features which are characterized in terms of their spatial interaction or interrelationship properties, modeled by means of a set of embedded Markov chains, each associated with a major spatial direction. Specifically,...
The present study considers how the function of vision can be constructed from the experiences of a robot. Specifically, a learning method is proposed for the association between vision and ego-motion. A novel concept of a time evolution operator on sensory inputs is introduced. The time variation of sensory inputs is obtained when the operator is applied to the current inputs. Association between...
We propose a model of hierarchical attention focusing and its application to a display method for small mobile devices. First we point out that the visual resolution is low when the attended area is broad and is high when the attended area is narrow. Then we propose a model to obtain saliency which expresses tendency of attracting human attention. Combining these we construct a model which controls...
The purpose of our study is a measurement of 3D (three dimensional) distance between an artificial cement-type cup and a artificial femoral head in a living patient's body after THR(total hip replacement) from an AP(anterior-posterior) Roentgen image and a lateral image, when the angle between the two images is unknown. Recently we proposed a measurement method for non-cement-type cup. We modified...
In this paper, we aim to support the scheme that visual cognition is organized by natural neural networks based on experiences. In this scheme the networks learn correlation between temporal variation of visual stimulation and self-motion to organize visual cognition. We propose a neural network that detects temporal variations of visual stimulation and combine them with corresponding self-motion...
We propose a numerical diagnosis method of a human walk using DCT (discrete cosine transform) of a wearable accelerometer data. We found an apparent difference between smooth walks and non-smooth walks. Our work can contribute to the improvement of people health with a walk diagnosis made by a portable machine.
This paper describes a method that estimates the degree of attractiveness of each part of input images taken by plural cameras. The attractiveness is expected to indicate the high possibility of existing of objects. We assume that the objects are included in only a few images among plural images. The degree of attractiveness of each part of the particular input images including objects is obtained...
The purpose of our work is measurement of 3D distance between a cup as an artificial acetabular and a head as an artificial femoral head in a patient body from AP and lateral Roentgen images without known angle between AP (anteriorposterior) and lateral after THR (total hip replacement). Martell measured the 2D distance between a cup and a head of an artificial hip joint. And also RSA (Roentgen stereophotogrammetric...
The purpose of our study is measurement of the value of the translation and the rotation between the corresponding teeth of digital dental models before and after an orthodontic treatment. We used digital models from plaster models digitized by 3D scanner, and divide the polygons into several teeth using our original GUI. We measured the distance from a polygon in the jaw before the treatment to the...
In this paper we propose a method of calculating the saliency map of an input image. In this method the saliency gets higher in the areas where the image features are different than those in the surrounding areas and where the features are unfamiliar. Based on this method, we also propose a method to apply the idea of calculating the saliency to the problem of determining the most efficient distribution...
In this paper, the recognition ability of PV (peripheral vision) and especially the influence of attention which exerts on that ability are examined. It is shown that the role of by PV is very important when we can't see the objects in FV (foveal vision). The recognition rate by PV is decreasing in proportion to the distance of the object from the center of the LOS (line of sight). In addition, it...
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