MISC - Nakazawa Atsushi

The analysis of human responses in a sense of agency disruption

Arif Widodo, Atsushi Nakazawa

IEICE Technical Report; IEICE Tech. Rep.   123 ( 433 )   375 - 378   2024.3

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Development of a Presentation evaluation method using nonverbal audience information

今村豪志, 中澤篤志, 平塚宏明

電子情報通信学会技術研究報告(Web)   124 ( 157(MVE2024 6-13) )   2024

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Estimating a person’s internal state and its application for understanding medical and nursing care interactions

中澤篤志

情報処理学会研究報告(Web)   2023 ( CVIM-232 )   2023

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介護×情報処理-高齢化社会の中の看護・介護の未来と情報処理-

中澤篤志

情報処理   64 ( 8 )   2023

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The Augmented Reality affective training increases the care communication skill

岩元美由紀, 中澤篤志, 倉爪亮, 本田美和子, 小林正樹, 布井雅人

ヒューマンインタフェース学会研究報告集(CD-ROM)   25   2023

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ダイ199カイ ヒューマンインタフェース ガッカイ ケンキュウカイ コウレイシャ 、 ショウガイシャ シエン ギジュツ オヨビ イッパン

25   105 - 112   2023

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I033500032

Comparison of the Beginning of Touching Motions by Humanitude Experts and Novices Through the Contact Surface of an FTIR Sensing System

湯口彰重, 湯口彰重, 中澤篤志, 吉野幸一郎, 吉野幸一郎, CHO Sung-Gwi, 高松淳, 小笠原司

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   24th   2023

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THE EFFECT OF COMMUNICATION SKILLS TRAINING FOR NURSING STUDENTS BY AUGMENTED REALITY SIMULATION SYSTEM

Masaki Kobayashi, Miyuki Iwamoto, Saki Une, Ryo Kurazume, Atsushi Nakazawa, Miwako Honda

INNOVATION IN AGING   6   440 - 440   2022.11

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Language：English   Publishing type：Research paper, summary (international conference)   Publisher：OXFORD UNIV PRESS  

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「優しい介護」インタラクションの計算的・脳科学的解明

中澤篤志

戦略的創造研究推進事業CREST研究終了報告書(Web)   2022   2022

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Understanding the tender-care skills using sensing and AI

中澤篤志

電子情報通信学会大会講演論文集(CD-ROM)   2022   2022

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A multimodal analysis of mother-child interaction in children with ASD-A single case study of a girl with verbal communication difficulty-

伊藤凌太朗, 松島佳苗, 長岡千賀, アンミー, 宇田あかね, 加藤寿宏, 吉川左紀子, 中澤篤志, 本田美和子, ジネスト イヴ, 安藤夏子, 岩元美由紀

電子情報通信学会技術研究報告(Web)   121 ( 438(HCS2021 61-75) )   2022

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Generation and Application of Drawing Style Space for Character Face Images

井上剛志, 中澤篤志

電子情報通信学会技術研究報告(Web)   122 ( 200(MVE2022 18-33) )   2022

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中澤篤志 倉爪亮 本田美和子

2022

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Emotional and Physiological Reactions of Contactee in Multimodal Communication with Touch: Guide to the Technical Report and Template

岩元美由紀, 桜栄翔太, 中澤篤志

電子情報通信学会技術研究報告(Web)   122 ( 23(HCS2022 1-34) )   2022

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Detection of human boredom from video

立川悠輝, 中澤篤志

電子情報通信学会技術研究報告(Web)   122 ( 200(MVE2022 18-33) )   2022

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Estimation of out-of-view attention region

原航基, 中澤篤志

電子情報通信学会技術研究報告(Web)   122 ( 200(MVE2022 18-33) )   2022

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Generation of natural agent behavior based on machine learning

宮澤恒光, 中澤篤志

電子情報通信学会技術研究報告(Web)   122 ( 200(MVE2022 18-33) )   2022

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ユマニチュードの触れ方の解析のために曲面板を用いた赤外線漏れ全反射方式での接触面情報の取得

湯口彰重, 湯口彰重, 豊田真行, 趙崇貴, 趙崇貴, 吉野幸一郎, 吉野幸一郎, 高松淳, 高松淳, 中澤篤志, 小笠原司

日本ロボット学会学術講演会予稿集(CD-ROM)   40th   2022

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接触者の接触行動に対する非接触者の感情による生理反応に関する研究

岩元美由紀, 中澤篤志

電子情報通信学会HCGシンポジウム2021   2021.12

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ユマニチュードによる自閉スペクトラム障害児と親の行動変容に関する研究

井上翔太, 中澤篤志, 岩元美由紀, 加藤寿宏, 吉川左紀子

2021.12

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ソーシャルロボットによる眠気抑制効果

原航基, 中澤篤志, 竹本あゆみ

電子情報通信学会HCGシンポジウム   2021.5

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角膜表面反射画像からのシーン識別

大嶋佑紀, 前田響介, 枝本祐典, 中澤篤志

電子情報通信学会技術研究報告(Web)   120 ( 393(BioX2020 40-48) )   2021

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Deep Facial Expression Transfer: StyleGAN-based Facial Motion Transfer

竹内至生, 中澤篤志

電子情報通信学会技術研究報告(Web)   120 ( 389(IMQ2020 10-35) )   2021

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自閉スペクトラム症児の母子相互作用のマルチモーダル分析 快情動の表出と顔向けの共起関係

長岡千賀, 松島佳苗, アン ミー, 伊藤凌太朗, 加藤寿宏, 吉川左紀子, 中澤篤志, 本田美和子, ジネスト イヴ, 安藤夏子, 岩元美由紀

日本心理学会大会発表抄録集   85th   2021

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自閉スペクトラム症児の母子相互作用のマルチモーダル分析 : 言語発達の水準が異なる2事例の比較—A multimodal analysis of mother-child interaction in children with ASD : Comparison between two children with different level of language development—第182回 ヒューマンインタフェース学会研究会 コミュニケーション支援および一般

松島 佳苗, 長岡 千賀, アン ミー, 伊藤 凌太朗, 加藤 寿宏, 吉川 左紀子, 中澤 篤志, 本田 美和子, イヴ ジネスト, 安藤 夏子, 岩元 美由紀

ヒューマンインタフェース学会研究報告集   23   11 - 16   2021

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I032036844

Analysis of Hand Contact Surface for Touching Motion Toward End-effector to Reproduce Humanitude’s Touching

豊田真行, 湯口彰重, CHO Sung-Gwi, 佐藤勇起, 高松淳, 中澤篤志, 和田隆広, 小笠原司

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   22nd   2021

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より良い聞き手のためのアンドロイドによる瞬目と頷きの模倣効果の検討

湯口彰重, GARCIA RICARDEZ Gustavo Alfonso, 高松淳, 中澤篤志, 小笠原司

日本ロボット学会学術講演会予稿集(CD-ROM)   38th   2020

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Imitation of Human Eyeblinks and Nodding Using an Android Toward Attentive Listening

湯口彰重, 高松淳, 中澤篤志, 小笠原司

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2020   2020

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Correlation analysis of personality by using home life behavior measurements

沼田崇志, 工藤泰幸, 加藤猛, 金子迪大, 野村理朗, 森口佑介, 中澤篤志, 嶺竜治

情報処理学会研究報告(Web)   2020 ( HCI-190 )   2020

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人工知能によって「人を見る」~人の目を測る・人の行動を測る・介護の上手さを測る~

中澤篤志

学習院大学計算機センター年報   40   120 - 129   2020

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Language：Japanese   Publisher：学習院大学計算機センター  

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ロボットによる見る・触れる動作の模倣とそれを通じた評価

高松淳, 豊島健太, 佐野哲也, 湯口彰重, 中澤篤志, ALFONSO Garcia Ricardez Gustavo, 丁明, 小笠原司

日本ロボット学会学術講演会予稿集(CD-ROM)   37th   2019

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ユマニチュードを行動から，脳から知りたい，

中澤 篤志

医学界新聞   3154号   13   2018

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人の視線計測に基づく会話時の視線提示が可能なアンドロイドシステム

佐野哲也, 湯口彰重, 中澤篤志, GARCIA Gustavo, 高松淳, 小笠原司

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   19th   2018

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PRMU基礎研究におけるオープンアイデア~PRMU第二期グランドチャレンジ~

安倍満, 舩冨卓哉, 木村昭悟, 中澤篤志, 山崎俊彦, 松下康之, 内田誠一, 前田英作

電子情報通信学会技術研究報告   117 ( 362(PRMU2017 101-111) )   39   2017.12

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Estimation of task difficulty and habituation effect while visual manipulation using pupillary response Reviewed

Asami Matsumoto, Yuta Tange, Atsushi Nakazawa, Toyoaki Nishida

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   10165   24 - 35   2017

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Language：English   Publishing type：Article, review, commentary, editorial, etc. (international conference proceedings)   Publisher：Springer Verlag  

In this paper, we show the relationship between pupil dilation and visualmanipulation tasks to measure the magnitude of individual habituation effect and task difficulty. Our findings show that pupil dilation can be used as a new physiological signal in the application of audience measurement, affective computing, affective communications, and user interface design. We built a pointer maze game where a subject moves a pointer from start to end positions on a straight pathway, and we observe the subject’s pupil size while changing the pathway width and performing the game repeatedly. Through the two experiments, we found the maximum pupil size increases during the game when the pathway narrows. The first experiment indicates the difficulty of the task (narrower pathway) is related to the larger pupil diameter. On the basis of these results, we built models relating to (1) pupil size and pathway width, (2) pupil size and duration, and (3) pathway width and duration. The second experiment indicates the pupil constriction is related to the habituation effect of the users. While a similar effect has already been reported, the magnitude of pupil dilation during our task was about ten times as high as that in other tasks, so our confidence in the model is high.

DOI： 10.1007/978-3-319-56687-0_3

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Evaluation of face-to-face communication skills for people with dementia using a head-mounted system Reviewed

Nakazawa, A, Okino Y, Honda M

3rd International Workshop on Pattern Recognition for Healthcare Analytics   2016.12

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Point of Gaze Estimation Using Corneal Surface Reflection and 360° Spherical Image

116 ( 208 )   75 - 81   2016.9

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Evaluation of Care Skills using a Head-mounted Camera

116 ( 39 )   95 - 100   2016.5

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Heat map visualization of multi-slice medical images through correspondence matching of video frames Reviewed

Divesh Lala, Atsushi Nakazawa

2016 ACM SYMPOSIUM ON EYE TRACKING RESEARCH & APPLICATIONS (ETRA 2016)   119 - 122   2016

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Language：English   Publishing type：Research paper, summary (international conference)   Publisher：ASSOC COMPUTING MACHINERY  

Visual inspection of medical imagery such as MRI and CT scans is a major task for medical professionals who must diagnose and treat patients without error. Given this goal, visualizing search behavior patterns used to recognize abnormalities in these images is of interest. In this paper we describe the development of a system which automatically generates multiple image-dependent heat maps from eye gaze data of users viewing medical image slices. This system only requires the use of a non-wearable eye gaze tracker and video capturing system. The main automated features are the identification of a medical image slice located inside a video frame and calculation of the correspondence between display screen and raw image eye gaze locations. We propose that the system can be used for eye gaze analysis and diagnostic training in the medical field.

DOI： 10.1145/2857491.2857504

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Noise stable image registration using Random Resample Consensus Reviewed

Atsushi Nakazawa

2016 23RD INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION (ICPR)   853 - 858   2016

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Language：English   Publishing type：Article, review, commentary, editorial, etc. (international conference proceedings)   Publisher：IEEE COMPUTER SOC  

Image registration is an important and fundamental problem in computer vision and image processing. Although there are currently a large number of image registration algorithms such as RANSAC and its extensions, image registration under very noisy conditions remains difficult when it cannot obtain enough number of correct corresponding points. This paper solves this issue by introducing a random resample consensus (RANRESAC) strategy, which achieves robust registration where it is difficult to obtain enough numbers of correct correspondence pairs. In contrast to RANSAC, proposed RANRESAC newly generate corresponding points for the images using the hypothesis transformation function, and verifies the correctness by evaluating the similarity of the local features at the newly sampled points. To confirm the effectiveness for the proposed method, we first conducted an preliminary experiment that evaluates the similarity of texture and orientation components of SURF local descriptor in the images adding several levels of noise. As the result, we observed the texture component is more stable than the orientation component. Based on this finding, we design the RANRESAC algorithm and performed experiments using a open image registration dataset. As the result, proposed method outperforms to the RANSAC, MSAC and Optimal RANSAC algorithms in large noise conditions.

DOI： 10.1109/ICPR.2016.7899742

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The technique of cornal reflection analysis Foundations and Applications

中澤篤志

電子情報通信学会技術研究報告   116 ( 265(NC2016 16-31) )   2016

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A mobile corneal imaging caemra for estimation of human's view

NAKAZAWA Atsushi

2015.7

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一人称視点映像による実環境の記憶可能性推定

Kento OIZUMI, Atsushi NAKAZAWA, Toyoaki Nishida

Meeting on Image Recognition and Understanding   29   1 - 4   2015.7

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NON-CALIBRATED AND REAL-TIME HUMAN VIEW ESTIMATION USING A MOBILE CORNEAL IMAGING CAMERA Invited

Atsushi Nakazawa, Christian Nitschke, Toyoaki Nishida

2015 IEEE International Conference on Multimedia & Expo Workshops (ICMEW)   1 - 4   2015

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We present a mobile human view estimation system using a corneal imaging technique. Compared to the current eye gaze tracking (EGT) systems, our system does not require per-session calibrations and a frontal view (scene) camera, making it suitable for wearable glass systems because it is easier to use and more socially acceptable due to the lack of a frontal scene camera. Our glasses system consists of a glass frame and a micro eye camera that captures the eye (corneal) reflections of a user. 3D corneal pose tracking is performed for the captured images by using a particle filter-based real-time tracking method leveraged by a 3D eye model and weak perspective projection. We then compute the gaze reflection point (GRP) where the light from the point of gaze (PoG) is reflected, enabling us to identify where a user is looking in a scene image reflected on the corneal surface. We conducted experiments using a standard computer display setup and several real-world scenes, and found that the proposed method performs with considerable accuracy under non-calibrated setups. This demonstrates its potential for various purposes such as the user interface of a glasses systems and the analysis of human perceptions in actual scenes for marketing, environmental design, and quality-of-life applications.

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Synthetic Evidential Study as Primordial Soup of Conversation. Reviewed

Nishida, T, Nakazawa, A, Ohmoto, Y, Nitschke, C, Mohammad, Y, Thovuttikul, S, Lala, D, Abe, M, Ookaki, T

Databases in Networked Information Systems   74 - 83   2015

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角膜イメージング法による視覚推定とその将来展望

Atsushi Nakazawa

学術の動向   2015.9 ( 9 )   89 - 91   2015

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Affective Computing - Provide Emotions to Computer Systems

Atsushi Nakazawa

会誌 自動車技術会   2015.3 ( 3 )   31 - 34   2015

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A Mobile Corneal Imaging Camera for Estimation of Human's View

Atsushi Nakazawa

Meeting on Image Recognition and Understanding   2015

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視覚操作タスクでの集中度と瞳孔径変化の定量的関係

Yuta Tange, Asami Matsumoto, Atsushi Nakazawa, Toyoaki Nishida

Meeting on Image Recognition and Understanding   2015

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NON-CALIBRATED AND REAL-TIME HUMAN VIEW ESTIMATION USING A MOBILE CORNEAL IMAGING CAMERA Reviewed

Atsushi Nakazawa, Christian Nitschke, Toyoaki Nishida

2015 IEEE International Conference on Multimedia & Expo Workshops (ICMEW)   1 - 6   2015

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Language：English   Publishing type：Research paper, summary (international conference)   Publisher：IEEE  

We present a mobile human view estimation system using a corneal imaging technique. Compared to the current eye gaze tracking (EGT) systems, our system does not require per-session calibrations and a frontal view (scene) camera, making it suitable for wearable glass systems because it is easier to use and more socially acceptable due to the lack of a frontal scene camera. Our glasses system consists of a glass frame and a micro eye camera that captures the eye (corneal) reflections of a user. 3D corneal pose tracking is performed for the captured images by using a particle filter-based real-time tracking method leveraged by a 3D eye model and weak perspective projection. We then compute the gaze reflection point (GRP) where the light from the point of gaze (PoG) is reflected, enabling us to identify where a user is looking in a scene image reflected on the corneal surface. We conducted experiments using a standard computer display setup and several real-world scenes, and found that the proposed method performs with considerable accuracy under non-calibrated setups. This demonstrates its potential for various purposes such as the user interface of a glasses systems and the analysis of human perceptions in actual scenes for marketing, environmental design, and quality-of-life applications.

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Non-calibrated and real-time human view estimation using a mobile corneal imaging camera Invited

NAKAZAWA Atsushi

Japan-Korea Workshop on Information and Robot Technology for Daily Life Support   1 - 4   2014.9

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Detecton of Gaze Target Objects Using Active Markers

Hiroaki Kato, Atsushi Nakazawa, Toyoaki Nishida

IEICE Technical Report, MVE   2014

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角膜イメージング法によるリモート注視点推定システム

Yusuke OKINO, Kento OIZUMI, Hiroaki KATO, Atsushi NAKAZAWA, Toyoaki Nishida

IEICE Technical Report, MVE   2014

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The Corneal Imaging Technique ? its Foundations and Applications

Atsushi Nakazawa

JasFOS Symposium   2014

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Robust registration of eye reection and scene images using random resample consensus

Atsushi Nakazawa, Christian Nitschke, Toyoaki Nishida

Meeting on Image Recognition and Understanding   2014

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角膜イメージング法の基礎理論と応用 注視点・周辺視検出からシーンの高解像度復元まで

中澤 篤志

Japan Society of Precision Engineering, Technical Committee on Instrial Application of Image Processing   2014

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角膜上の画像を利用し注視点を検出

Atsushi Nakazawa

Nikkei Electronics   2014.8 ( 1140 )   59 - 68   2014

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Other Link： http://id.ndl.go.jp/bib/025616715

Conversational informatics: A data-intensive approach with emphasis on nonverbal communication

Toyoaki Nishida, Atsushi Nakazawa, Yoshimasa Ohmoto, Yasser Mohammad

Springer 4   9784431550402   1 - 344   2014

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This book covers an approach to conversational informatics which encompasses science and technology for understanding and augmenting conversation in the network age. A major challenge in engineering is to develop a technology for conveying not just messages but also underlying wisdom. Relevant theories and practices in cognitive linguistics and communication science, as well as techniques developed in computational linguistics and artificial intelligence, are discussed.

DOI： 10.1007/978-4-431-55040-2_1

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Corneal Imaging Revisited : An Overview of Corneal Reflection Analysis and Applications (PSJ Transactions on Computer Vision and Applications Vol.5)

2012 ( 2 )   1 - 18   2013.4

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Current and Future Gaming Technology : from core technologies and business models to next generation interfaces

67 ( 1 )   1 - 4   2013.1

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Human Body-parts Tracking for Fine-grained Behavior Classification

Norimichi Ukita, Atsushi Nakazawa

2013 IEEE INTERNATIONAL CONFERENCE ON COMPUTER VISION WORKSHOPS (ICCVW)   777 - 778   2013

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This paper discusses the usefulness of human body-parts tracking for acquiring subtle cues in social interactions. While many kinds of body-parts tracking algorithms have been proposed, we focus on particle filtering-based tracking using prior models, which have several advantages for researches on social interactions. As a first step for extracting subtle cues from videos of social interaction behaviors, the advantages, disadvantages, and prospective properties of the body-parts tracking using prior models are summarized with actual results.

DOI： 10.1109/ICCVW.2013.106

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Corneal Reflection Analysis for Point of Gaze Estimation and Other Applications

Atsushi Nakazawa, Christian Nitschke

The 7th International Workshop on Robust Computer Vision   2013

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Arm Pose Copying for Humanoid Robots

Yasser Mohanamad, Toyoaki Nishida, Atsushi Nakazawa

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   897 - 904   2013

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Learning by imitation is becoming increasingly important for teaching humanoid robots new skills. The simplest form of imitation is behavior copying in which the robot is minimizing the difference between its perceived motion and that of the imitated agent. One problem that must be solved even in this simplest of all imitation tasks is calculating the learner's pose corresponding to the perceived pose of the agent it is imitating. This paper presents a general framework for solving this problem in closed form for the arms of a generalized humanoid robot of which most available humanoids are special cases. The paper also reports the evaluation of the proposed system for real and simulated robots.

DOI： 10.1109/ROBIO.2013.6739576

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Point of Gaze Estimation through Corneal Surface Reflection in an Active Illumination Environment

Atsushi Nakazawa, Christian Nitschke

Image sensing symposium   2013

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DOI： 10.1007/978-3-642-33709-3_12

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角膜イメージング法を用いた校正無し注視点推定

中澤篤志, 中澤篤志, ニチュケ クリスティアン

日本ロボット学会学術講演会予稿集(CD-ROM)   31st   2013

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I see what you see: Point of Gaze Estimation from Corneal Images

Christian Nitschke, Atsushi Nakazawa, Toyoaki Nishida

2013 SECOND IAPR ASIAN CONFERENCE ON PATTERN RECOGNITION (ACPR 2013)   298 - 304   2013

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Eye-gaze tracking (EGT) is an important problem with a long history and various applications. However, state-of-the-art geometric vision-based techniques still suffer from major limitations, especially (1) the requirement for calibration of a static relationship between eye camera and scene, and (2) a parallax error that occurs when the depth of the scene varies. This paper introduces a novel concept for EGT that overcomes these limitations using corneal imaging. Based on the observation that the cornea reflects the surrounding scene over a wide field of view, it is shown how to extract that information and determine the point of gaze (PoG) directly in an eye image. To realize this, a closed-form solution is developed to obtain the gaze-reflection point (GRP), where light from the PoG reflects at the corneal surface into a camera. This includes compensation for the individual offset between optical and visual axis. Quantitative and qualitative evaluation shows that the strategy achieves considerable accuracy and successfully supports depth-varying environments. The novel approach provides important practical advantages, including reduced intrusiveness and complexity, and support for flexible dynamic setups, non-planar scenes and outdoor application.

DOI： 10.1109/ACPR.2013.84

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Virtual Dance Hall : Dance Interaction using Body Movement

YASUNAGA Takuya, NAKAZAWA Atsushi, TAKEMURA Haruo

Technical report of IEICE. Multimedia and virtual environment   112 ( 221 )   61 - 66   2012.9

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This paper presents a new approach for synthesizing dance performance matched to input music, based on the emotional aspects of dance performance. Our analysis method extracts motion rhythm and intensity from motion capture data and musical rhythm, structure from musical signals. We extract candidates of motion segment sets whose features are matched to those of music segments. For synthesizing dance performance, we select the motion segment set whose intensity by Kinect and connectivity is matched to that of music segments. As the result, our system adds an interactive component to live dancing performed by virtual characters.

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Super resolution scene reconstruction using corneal reflections

NITSCHKE Christian, NAKAZAWA Atsushi

Technical report of IEICE. PRMU   112 ( 225 )   65 - 70   2012.9

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The corneal imaging technique enables extraction of scene information from corneal reflections and realizes a large number of applications including environment map reconstruction and estimation of a person's area of view. However, since corneal reflection images are usually low quality and resolution, the outcome of the technique is currently limited. To overcome this issue, we propose a first non-central catadioptric approach to reconstruct high-resolution scene information from a series of lower resolution corneal images through a super-resolution technique. We describe a three-step process, including (1) single image environment map recovery, (2) multiple image registration, and (3) high-resolution image reconstruction. In a number of experiments we show that the proposed strategy successfully recovers high-frequency textures that are lost in the source images, and also works with other non-central catadioptric systems, e.g., involving spherical mirrors.

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Human-Computer Dance Interaction with Real-time Control using Wiimote and Kinect

YASUNAGA Takuya, NAKAZAWA Atsushi, TAKEMURA Haruo

Technical report of IEICE. PRMU   112 ( 225 )   23 - 28   2012.9

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This paper presents a new approach for synthesizing dance performance matched to input music, based on the emotional aspects of dance performance. Since the sensor reads express intensities of users' body movements, the system can synthesize character motions whose intensities are synchronized to those of users. Our analysis method extracts motion rhythm and intensity from motion capture data and musical rhythm, structure from musical signals. With the results of this analysis, we generate a motion graph that can generate character motions matched to the musical rhythm. For synthesizing dance performance, we select the motion segment set whose intensity by sensor data and connectivity is matched to that of music segments. As the results, our system adds an interactive component to live dancing performed by virtual characters.

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大阪大学における新入生の普通教科「情報」に関する調査報告

間下以大, 清川清, 中澤篤志, 竹村治雄

情報教育シンポジウム2012論文集   2012 ( 4 )   29 - 34   2012.8

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Educational Computer System in Osaka University

2012 ( 8 )   1 - 5   2012.5

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A Instrumented Puppet Interface for Retrieval of Motion Capture Data

NUMAGUCH Naoki, NAKAZAWA Atsushi, SHIRATORI Takaaki, HODGINS Jessica

Technical report of IEICE. PRMU   111 ( 430 )   41 - 46   2012.2

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Intuitive and efficient retrieval of motion capture data is essential for effective use of motion capture databases. In this paper, we describe a system that allows the user to retrieve a particular sequence by performing an approximation of the motion with an instrumented puppet. This interface is intuitive because both adults and children have experience playacting with puppets. We develop a novel similarity metric called dual subspace projection method (DSPM) which works even for relatively large databases. We conducted a user study of the system and subjects could find the desired motion with reasonable accuracy from a database consisting of everyday, exercise, and acrobatic behaviors.

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Dance to Music Character Animation with accelerometer based user control

Yasunaga Takuya, Nakazawa Atsushi, Takemura Haruo

IPSJ SIG Notes   2012 ( 25 )   1 - 6   2012.1

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This paper presents a new approach for synthesizing dance performance matched to input music, based on the emotional aspects of dance performance. Our analysis method extracts motion rhythm and inten- sity from motion capture data and musical rhythm, structure from musical signals. We rst extract candidates of motion segment sets whose features are matched to those of music segments. For synthesizing dance perfor- mance, we select the motion segment set whose intensity by accelerometer and connectivity is matched to that of music segments. We evaluate all synthesizing time and matching value.

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Human-computer dance interaction with realtime accelerometer control Reviewed

Takuya Yasunaga, Atsushi Nakazawa, Haruo Takemura

MM 2012 - Proceedings of the 20th ACM International Conference on Multimedia   1157 - 1160   2012

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Motion-capture-based character animations are widely used in computer graphics and interactive games.In this paper, we show a novel approach to create dancing character animations that react to input music and an accelerometer manipulated by a user. Since the sensor reads express intensities of users' body movements, the system can synthesize character motions whose intensities are synchronized to those of users. Our system consists of analysis phase and synthesis phase. In the analysis phase, the musical beat and segments are detected from input sound, and motion rhythm and intensities are found from motion capture data. With the results of this analysis, we generate a motion graph that can generate character motions matched to the musical rhythm. In synthesis phase, the system receives the output data from an accelerometer and traverses the motion graph according to the matching result between the sensor data and the motion intensity. As the result, our system adds an interactive component to live dancing performed by virtual characters. © 2012 ACM.

DOI： 10.1145/2393347.2396407

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大阪大学の情報教育システムに関する現状と展望

中澤 篤志, 間下 以大, 清川 清

大学ICT推進協議会年次大会論文集   5p   2012

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Super-Resolution from Corneal Images

Christian Nitschke, Atsushi Nakazawa

PROCEEDINGS OF THE BRITISH MACHINE VISION CONFERENCE 2012   2012

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The corneal imaging technique enables extraction of scene information from corneal reflections and realizes a large number of applications including environment map reconstruction and estimation of a person's area of view. However, since corneal reflection images are usually low quality and resolution, the outcome of the technique is currently limited. To overcome this issue, we propose a first non-central catadioptric approach to reconstruct high-resolution scene information from a series of lower resolution corneal images through a super-resolution technique. We describe a three-step process, including (1) single image environment map recovery, (2) multiple image registration, and (3) high-resolution image reconstruction. In a number of experiments we show that the proposed strategy successfully recovers high-frequency textures that are lost in the source images, and also works with other non-central catadioptric systems, e.g., involving spherical mirrors. The obtained information about a person and the environment enables novel applications, e.g., for surveillance systems, personal video, human-computer interaction, and upcoming head-mounted cameras (Google Glass [5]).

DOI： 10.5244/C.26.22

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Virtual Dance Hall : Dance Interaction using Body Movement

14   61 - 66   2012

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A Instrumented Puppet Interface for Retrieval of Motion Capture Data

2011 ( 1 )   1 - 8   2011.11

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眼球の表面反射と高速アクティブ光投影を用いた非装着・事前校正不要な注視点推定

中澤篤志, ニチュケクリスチャン, ラドコフアレクサンダー, 竹村治雄

画像の認識・理解シンポジウム(MIRU2011)論文集   2011   41 - 48   2011.7

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Image-based Eye Pose and Reflection Analysis for Advanced Interaction Techniques and Scene Understanding

Christian Nitschke, Atsushi Nakazawa, Haruo Takemura

研究報告コンピュータビジョンとイメージメディア（CVIM）   2011 ( 31 )   1 - 16   2011.5

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Recently, the geometric relation between a human eye and its image has been formalized to analyze environmental light reflections in the cornea. Proceeding with these efforts, our study proposes a theory of the light transport at the corneal surface including multiple eye poses, develops novel applications, and performs comprehensive experimental evaluation. Based on anthropometric data, a spherical-curvature geometric eye model is developed, and subsequently applied to discuss methods for eye pose estimation from projected circular eye features. The combination of camera and corneal mirror acts as a catadioptric imaging system, for which we describe the back projection to reconstruct the position of a light source, and the forward projection of light from a given source into the image. The theory has several practical applications in scene reconstruction and human-computer interaction, where we discuss the geometric calibration of display-camera setups as one particular problem. We propose a novel approach that eliminates the requirement of special hardware and tedious user interaction by analyzing screen reflections in the cornea. Based on this setting, thorough experimental evaluation shows that simple scene reconstruction results in a large error. We discuss possible reasons and introduce an optimization scheme that achieves feasible results by exploiting geometry constraints within the system. Our study provides sophisticated strategies for analyzing the geometric relation between camera, eye pose, corneal shape, and scene structure within arbitrary dynamic environments. The findings and developments enable novel insights, understanding, and applications in the analysis of human-scene interaction. We believe that this work has implications on several fields and is an important contribution.Recently, the geometric relation between a human eye and its image has been formalized to analyze environmental light reflections in the cornea. Proceeding with these efforts, our study proposes a theory of the light transport at the corneal surface including multiple eye poses, develops novel applications, and performs comprehensive experimental evaluation. Based on anthropometric data, a spherical-curvature geometric eye model is developed, and subsequently applied to discuss methods for eye pose estimation from projected circular eye features. The combination of camera and corneal mirror acts as a catadioptric imaging system, for which we describe the back projection to reconstruct the position of a light source, and the forward projection of light from a given source into the image. The theory has several practical applications in scene reconstruction and human-computer interaction, where we discuss the geometric calibration of display-camera setups as one particular problem. We propose a novel approach that eliminates the requirement of special hardware and tedious user interaction by analyzing screen reflections in the cornea. Based on this setting, thorough experimental evaluation shows that simple scene reconstruction results in a large error. We discuss possible reasons and introduce an optimization scheme that achieves feasible results by exploiting geometry constraints within the system. Our study provides sophisticated strategies for analyzing the geometric relation between camera, eye pose, corneal shape, and scene structure within arbitrary dynamic environments. The findings and developments enable novel insights, understanding, and applications in the analysis of human-scene interaction. We believe that this work has implications on several fields and is an important contribution.

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Practical Display-Camera Calibration from Eye Reflections using Coded Illumination Reviewed

Christian Nitschke, Atsushi Nakazawa, Haruo Takemura

2011 FIRST ASIAN CONFERENCE ON PATTERN RECOGNITION (ACPR)   550 - 554   2011

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Display-camera systems enable a large range of vision applications in everyday environments, but require calibrating the pose of the display with respect to the camera. Recently, a promising approach is introduced that analyzes corneal reflections from face images. While having several benefits, the described implementation requires controlled and unnatural conditions, manual elaboration, and offline processing. This work aims to improve the approach and allow for conditions of practice: First, the novel idea is proposed to encode display correspondences into illumination patterns to enable automatic and robust detection. This comprises the first use of coded illumination with corneal reflection analysis. Second, since previous evaluation revealed a large error for the basic algorithm, this work discusses thorough experimental evaluation of an optimization strategy based on geometry constraints in the scene. Results show that considerable improvement can be achieved under common parameter variation, which successfully verifies the feasibility of the approach.

DOI： 10.1109/ACPR.2011.6166661

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A puppet interface for retrieval of motion capture data Reviewed

Naoki Numaguchi, Atsushi Nakazawa, Takaaki Shiratori, Jessica K. Hodgins

Proceedings - SCA 2011: ACM SIGGRAPH / Eurographics Symposium on Computer Animation   157 - 166   2011

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Intuitive and efficient retrieval of motion capture data is essential for effective use of motion capture databases. In this paper, we describe a system that allows the user to retrieve a particular sequence by performing an approximation of the motion with an instrumented puppet. This interface is intuitive because both adults and children have experience playacting with puppets and toys to express particular behaviors or to tell stories with style and emotion. The puppet has 17 degrees of freedom and can therefore represent a variety of motions. We develop a novel similarity metric between puppet and human motion by computing the reconstruction errors of the puppet motion in the latent space of the human motion and those of the human motion in the latent space of the puppet motion. This metric works even for relatively large databases. We conducted a user study of the system and subjects could find the desired motion with reasonable accuracy from a database consisting of everyday, exercise, and acrobatic behaviors. Copyright © 2011 by the Association for Computing Machinery, Inc.

DOI： 10.1145/2019406.2019427

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Display-Camera Calibration from Eye Reflections

NITSCHKE Christian, NAKAZAWA Atsushi, TAKEMURA Haruo

The IEICE transactions on information and systems (Japanese edetion)   93 ( 8 )   1450 - 1460   2010.8

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平面ディスプレイを光源とみなし,光源パターンを様々に変化させた対象の画像をカメラで撮影し形状復元やHCIに利用する,ディスプレイ・カメラシステムの研究が行われている.このような用途ではディスプレイとカメラの幾何校正を行うことが必要であり,従来法では球面ミラー等の付加的なデバイスを必要とした.本論文ではこれに対し,ユーザの眼球の表面反射を利用することで,特殊なデバイスを必要とせず校正を実現する手法を提案する.本手法ではディスプレイでパターンを投影し,その反射した像をカメラで撮影することでディスプレイ座標とカメラ座標の対応関係を得る.次に,この対応関係と眼球モデル,及びディスプレイサイズの情報を用いて最適化を行うことで解を得る.11名の被験者を用いた実験及びディスプレイとカメラを様々な位置関係で配置した状況に対する実験を行い,本手法の有効性及び様々な状況下での性能を明らかにした.

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MMM-classification of 3D Range Data

AGRAWAL Anuraag, NAKAZAWA Atsushi, TAKEMURA Haruo

IEICE technical report   109 ( 470 )   193 - 198   2010.3

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This paper presents a method for accurately segmenting and classifying 3D range data into particular object classes. Object classification of input images is necessary for applications including robot navigation and automation, in particular with respect to path planning. To achieve robust object classification, we propose the idea of an object feature which represents a distribution of neighboring points around a target point. In addition, rather than processing raw points, we reconstruct polygons from the point data, introducing connectivity to the points. With these ideas, we can refine the Markov Random Field (MRF) calculation with more relevant information with regards to determining "related points". The algorithm was tested against five outdoor scenes and provided accurate classification even in the presence of many classes of interest.

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Display-Camera Calibration from Eye Reflections

NITSCHKE Christian, NAKAZAWA Atsushi, TAKEMURA Haruo

Technical report of IEICE. PRMU   109 ( 470 )   205 - 210   2010.3

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Language：Japanese   Publisher：The Institute of Electronics, Information and Communication Engineers  

We present a novel technique for calibrating display-camera systems from reflections in the user's eyes. Display-camera systems enable a range of vision applications that need controlled illumination, including 3D object reconstruction, facial modeling and human computer interaction. One important issue, though, is the geometric calibration of the display, which requires additional hardware and tedious user interaction. The proposed approach eliminates this requirement by analyzing patterns that are reflected in the cornea, a mirroring device that naturally exists in any display-camera system. We introduce an optimization strategy that is able to refine eye and spherical mirror calibration results. When applied to the eye, it even outperforms spherical mirror calibration unoptimized. Furthermore, we obtain a robust estimation of eye poses which can be used for eye tracking applications. Despite the difficult working conditions, the calibration results are good and should be sufficient for many applications.

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D-11-78 DISASTER RECOGNITION IN 3D RANGE DATA

Kawai Kentaro, Agrawal Anuraag, Nakazawa Atushi, Takemura Haruo

Proceedings of the IEICE General Conference   2010 ( 2 )   78 - 78   2010.3

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D-12-88 A Hand Cart Type 3D Reconstruction System using a Laser Range Finder and a Single Camera

Ohnishi Takayuki, Nitschke Christian, Nakazawa Atsushi, Takemura Haruo

Proceedings of the IEICE General Conference   2010 ( 2 )   199 - 199   2010.3

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3次元ビデオの連結によるインタラクティブ3次元VRシステム--3次元ビデオグラフによる3Dビデオの実現

中澤 篤志

画像ラボ / 画像ラボ編集委員会 編   20 ( 9 )   12 - 17   2009.9

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Modeling 3D Urban Environment with Registration between Laser Range Images and Google Maps Image

MATSUMURA Miki, AGRAWAL Anuraag, NAKAZAWA Atsushi, TAKEMURA Haruo

IEICE technical report   109 ( 88 )   13 - 18   2009.6

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Dance to Music Character Animation

NINOMIYA KEI, NAKAZAWA ATSUSHI, TAKEMURA HARUO

2009 ( 34 )   1 - 8   2009.6

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Other Link： http://id.nii.ac.jp/1001/00062861/

Categorization of motion capture data using emotional words

NUMAGUCHI NAOKI, NAKAZAWA ATSUSHI, TAKEMURA HARUO

2009 ( 35 )   1 - 6   2009.6

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Other Link： http://id.nii.ac.jp/1001/00062862/

Human video textures Reviewed

Matthew Flagg, Atsushi Nakazawa, Qiushuang Zhang, Sing Bing Kang, Young Kee Ryu, Irfan Essa, James M. Rehg

Proceedings of I3D 2009: The 2009 ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games   199 - 206   2009

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This paper describes a data-driven approach for generating photorealistic animations of human motion. Each animation sequence follows a user-choreographed path and plays continuously by seamlessly transitioning between different segments of the captured data. To produce these animations, we capitalize on the complementary characteristics of motion capture data and video. We customize our capture system to record motion capture data that are synchronized with our video source. Candidate transition points in video clips are identified using a new similarity metric based on 3-D marker trajectories and their 2-D projections into video. Once the transitions have been identified, a video-based motion graph is constructed. We further exploit hybrid motion and video data to ensure that the transitions are seamless when generating animations. Motion capture marker projections serve as control points for segmentation of layers and nonrigid transformation of regions. This allows warping and blending to generate seamless in-between frames for animation. We show a series of choreographed animations of walks and martial arts scenes as validation of our approach. Copyright © 2009 by the Association for Computing Machinery, Inc.

DOI： 10.1145/1507149.1507182

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MMM-classification of 3D Range Data Reviewed

Anuraag Agrawal, Atsushi Nakazawa, Haruo Takemura

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7   2269 - +   2009

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Language：English   Publisher：IEEE  

This paper presents a method for accurately segmenting and classifying 3D range data into particular object classes. Object classification of input images is necessary for applications including robot navigation and automation, in particular with respect to path planning. To achieve robust object classification, we propose the idea of an object feature which represents a distribution of neighboring points around a target point. In addition, rather than processing raw points, we reconstruct polygons from the point data, introducing connectivity to the points. With these ideas, we can refine the Markov Random Field (MRF) calculation with more relevant information with regards to determining "related points". The algorithm was tested against five outdoor scenes and provided accurate classification even in the presence of many classes of interest.

DOI： 10.1109/ROBOT.2009.5152539

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Display-Camera Calibration from Eye Reflections Reviewed

Christian Nitschke, Atsushi Nakazawa, Haruo Takemura

2009 IEEE 12TH INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV)   1226 - 1233   2009

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We present a novel technique for calibrating display-camera systems from reflections in the user's eyes. Display-camera systems enable a range of vision applications that need controlled illumination, including 3D object reconstruction, facial modeling and human computer interaction. One important issue, though, is the geometric calibration of the display, which requires additional hardware and tedious user interaction. The proposed approach eliminates this requirement by analyzing patterns that are reflected in the cornea, a mirroring device that naturally exists in any display-camera system. We introduce an optimization strategy that is able to refine eye and spherical mirror calibration results. When applied to the eye, it even outperforms spherical mirror calibration unoptimized. Furthermore, we obtain a robust estimation of eye poses which can be used for eye tracking applications. Despite the difficult working conditions, the calibration results are good and should be sufficient for many applications.

DOI： 10.1109/ICCV.2009.5459330

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LARGE-SCALE 3D SCENE MODELING BY REGISTRATION OF LASER RANGE DATA WITH GOOGLE MAPS IMAGES Reviewed

Anuraag Agrawal, Miki Matsumura, Atsushi Nakazawa, Haruo Takemura

2009 16TH IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING, VOLS 1-6   589 - 592   2009

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This work presents a novel approach to registering multiple range images on top of a Google Maps image. The fundamental concept behind the method is matching completely different types of input with each other using classification as a middleman. Range images and Google Maps images are separated into classes, and the range image is also projected into a 2D top-down template image. The template image can then be matched against the Google Maps image to find its location and orientation on the map, which can be used for registering the range images. An experiment comparing this technique against using GPS to find position and orientation showed that it is effective at automatically constructing a reasonable large-scale 3D model whereas GPS would be completely ineffective.

DOI： 10.1109/ICIP.2009.5413885

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EYE REFLECTION ANALYSIS AND APPLICATION TO DISPLAY-CAMERA CALIBRATION Reviewed

Christian Nitschke, Atsushi Nakazawa, Haruo Takemura

2009 16TH IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING, VOLS 1-6   3449 - 3452   2009

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We present a novel technique for calibrating display-camera systems from reflections in the user's eyes. Display-camera systems enable a range of vision applications that need controlled illumination, including 3D object reconstruction, facial modeling and human computer interaction. One important issue, though, is the geometric calibration of the display, which requires additional hardware and tedious user interaction. The proposed approach eliminates this requirement by analyzing patterns that are reflected in the cornea, a mirroring device that naturally exists in any display-camera system. By applying this strategy we also obtain a continuous estimation of eye poses which facilitates further applications. We investigate the effect of display size, camera-eye distance and individual eye anatomy experimentally using only off-the-shelf components. Results are promising and show the general feasibility of the approach.

DOI： 10.1109/ICIP.2009.5413852

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印象語による舞踊動作データの分類法

沼口直紀, 中澤篤志, 竹村治雄

画像電子学会年次大会予稿集(CD-ROM)   37th   2009

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Interactive 3D Video Using the Sequencing of Multiple Scenes

HATTORI Yuichi, NAKAZAWA Atsushi, TAKEMURA Haruo

The IEICE transactions on information and systems   91 ( 12 )   2800 - 2808   2008.12

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Modeling 3D Scenes with Registration between Laser Range Data and Google Maps Image

MATSUMURA Miki, AGRAWAL Anuraag, NAKAZAWA Atsushi, TAKEMURA Haruo

IEICE technical report   108 ( 328 )   169 - 176   2008.11

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Language：Japanese   Publisher：The Institute of Electronics, Information and Communication Engineers  

In this research, we propose a method for taking expansive 3D models of environments using highly-accurate laser range data. Laser range data is taken using distance sensors called laser range sensors, which have grown in use over recent years, including such practical applications like Google's street-view. However, trying to model a large-scale environment like a city requires taking data from various locations around the environment, and this data must be aligned with respect to each other. In our method, we initially decide on a location to model, taking range and map data for it and classifying it into multiple regions. We then find the location and orientation on the map that allows the two results to match, giving the location and orientation of the captured range data.

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Modeling 3D Scenes with Registration between Laser Range Data and Google Maps Image

MATSUMURA Miki, AGRAWAL Anuraag, NAKAZAWA Atsushi, TAKEMURA Haruo

IPSJ SIG Notes. CVIM   2008 ( 115 )   169 - 176   2008.11

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In this research, we propose a method for taking expansive 3D models of environments using highly-accurate laser range data. Laser range data is taken using distance sensors called laser range sensors, which have grown in use over recent years, including such practical applications like Google's street-view. However, trying to model a large-scale environment like a city requires taking data from various locations around the environment, and this data must be aligned with respect to each other. In our method, we initially decide on a location to model, taking range and map data for it and classifying it into multiple regions. We then find the location and orientation on the map that allows the two results to match, giving the location and orientation of the captured range data.

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Report on CVPR2008

KAWASAKI Hiroshi, SHIMIZU Masao, TAKAMATSU Jun, TANAKA Masayuki, NAKAZAWA Atsushi, NOBUHARA Shohei, FURUKAWA Ryo, LAO Shihong, YAGI Yasushi

IEICE technical report   108 ( 328 )   145 - 152   2008.11

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR2008) was held in Ancholage, USA, June 22-28 2006. This is a report on CVPR2008 by nine participants.

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Report on CVPR2008

KAWASAKI Hiroshi, SHIMIZU Masao, TAKAMATSU Jun, TANAKA Masayuki, NAKAZAWA Atsushi, NOBUHARA Shohei, FURUKAWA Ryo, LAO Shihong, YAGI Yasushi

IPSJ SIG Notes. CVIM   2008 ( 115 )   145 - 152   2008.11

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR2008) was held in Ancholage, USA, June 22-28 2006. This is a report on CVPR2008 by nine participants.

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Display-Camera Calibration from Eye Reflections

NITSCHKE Christian, NAKAZAWA Atsushi, TAKEMURA Haruo

Technical report of IEICE. PRMU   108 ( 198 )   113 - 120   2008.8

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We present a technique for calibrating display-camera systems from corneal reflections in the user's eyes. Display-camera systems enable a range of vision applications that need controlled illumination including 3D object reconstruction, facial modeling or human computer interaction in everyday environments. An important issue is calibrating the pose of the display with respect to the camera. Such a calibration may be achieved using a planar mirror with attached calibration pattern or a spherical mirror of known size. However, all approaches require additional hardware and user interaction. We propose an automatic way to recover display properties from patterns that are reflected in the cornea, a mirroring device that naturally coexists in any display-camera system. By applying this strategy we also obtain a continuous estimation of eye pose which may be used to calibrate eye tracking systems and generally enhance human-computer interaction.

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Human pose estimation using volumetric features and boosting approach

TAIRA Ryosuke, NAKAZAWA Atsushi, TAKEMURA Haruo

IPSJ SIG Notes. CVIM   2008 ( 82 )   143 - 148   2008.8

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Recently, considerable research has been conducted on markerless human-body motion capture using volume data. Most studies have used articulated body models that consist of primitives such as cylinders or ellipsoids. However, the methods that use such models require very good initial parameters. This paper proposes a method to find the human posture parameter from just a single frame without any knowledge of previous frames. We first prepare sample volume data which takes various postures, and then cluster them according to the direction of body links. The volumetric feature vector is acquired for each sample and they are learned via the AdaBoost algorithm. The resulting classifier is used for estimating input volume data, and the matched class can be used as an initial parameter for tracking based methods.

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Display-Camera Calibration from Eye Reflections

NITSCHKE Christian, NAKAZAWA Atsushi, TAKEMURA Haruo

IPSJ SIG Notes. CVIM   164 ( 82 )   115 - 122   2008.8

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We present a technique for calibrating display-camera systems from corneal reflections in the user's eyes. Display-camera systems enable a range of vision applications that need controlled illumination including 3D object reconstruction, facial modeling or human computer interaction in everyday environments. An important issue is calibrating the pose of the display with respect to the camera. Such a calibration may be achieved using a planar mirror with attached calibration pattern or a spherical mirror of known size. However, all approaches require additional hardware and user interaction. We propose an automatic way to recover display properties from patterns that are reflected in the cornea, a mirroring device that naturally coexists in any display-camera system. By applying this strategy we also obtain a continuous estimation of eye pose which may be used to calibrate eye tracking systems and generally enhance human-computer interaction.

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Human pose estimation using volumetric features and boosting approach

TAIRA Ryosuke, NAKAZAWA Atsushi, TAKEMURA Haruo

IEICE technical report   108 ( 198 )   141 - 146   2008.8

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Recently, considerable research has been conducted on markerless human-body motion capture using volume data. Most studies have used articulated body models that consist of primitives such as cylinders or ellipsoids. However, the methods that use such models require very good initial parameters. This paper proposes a method to find the human posture parameter from just a single frame without any knowledge of previous frames. We first prepare sample volume data which takes various postures, and then cluster them according to the direction of body links. The volumetric feature vector is acquired for each sample and they are learned via the AdaBoost algorithm. The resulting classifier is used for estimating input volume data, and the matched class can be used as an initial parameter for tracking based methods.

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Example Based Approach for Human Pose Estimation Using Volume Data and Graph Matching

TANAKA Hidenori, NAKAZAWA Atsushi, TAKEMURA Haruo

The IEICE transactions on information and systems   91 ( 6 )   1580 - 1591   2008.6

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Using the Sequencing of 3D-Video to Create a Movie with an Arbitrary Viewpoint that can be Played Indefinitely

HATTORI YUICHI, NAKAZAWA ATSUSHI, TAKEMURA HARUO

IPSJ SIG Notes. CVIM   2008 ( 3 )   41 - 48   2008.1

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3D video with an arbitrary viewpoint, generated by 3D reconstruction of images captured by multiple cameras, is currently actively researched as a new type of media. In our research, we propose a method to connect different 3D video clips in an attempt to realize interactive 3D video. Conversion of time sequence 3D mesh shapes into skeleton data enables us to find frames that can connect each clip, determine a correspondence between the two mesh shapes, and generate an interpolated path of vertices. The target of our method is a multiple joint model such as a human body, so we can create a human's loop, and naturally switch to a random action at any time. So we can apply this to the creation of interactive media, for example, an object changes when the watcher "touches" it in the virtual immersive space.

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Using the Sequencing of 3D-Video to Create a Movie with an Arbitrary Viewpoint that can be Played Indefinitely

HATTORI YUICHI, NAKAZAWA ATSUSHI, TAKEMURA HARUO

IEICE technical report   107 ( 427 )   41 - 48   2008.1

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3D video with an arbitrary viewpoint, generated by 3D reconstruction of images captured by multiple cameras, is currently actively researched as a new type of media. In our research, we propose a method to connect different 3D video clips in an attempt to realize interactive 3D video. Conversion of time sequence 3D mesh shapes into skeleton data enables us to find frames that can connect each clip, determine a correspondence between the two mesh shapes, and generate an interpolated path of vertices. The target of our method is a multiple joint model such as a human body, so we can create a human's loop, and naturally switch to a random action at any time. So we can apply this to the creation of interactive media, for example, an object changes when the watcher "touches" it in the virtual immersive space.

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Optimized rendering for a three-dimensional videoconferencing system Reviewed

Rachel Chu, Susumu Date, Seiki Kuwabara, Atsushi Nakazawa, Haruo Takemura, Daniel Tenedorio, Jürgen P. Schulze, Fang-Pang Lin

Proceedings - 4th IEEE International Conference on eScience, eScience 2008   540 - 546   2008

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Industry widely employs the two-dimensional videoconferencing system as a long distance communication tool, but current limitations such as its tendency to misrepresent eye contact prevent it from becoming more widely adopted. We are exploring the possibility of a three-dimensional videoconferencing system for future interactive streaming of point cloud data, and present the preliminary research results in this paper. We have tested thus far with one sender and one receiver, using pre-recorded data for the sender. The sender, encircled by high-definition cameras, stands and speaks in a room. A cluster of computers reconstructs each frame of the camera images into a 3D point cloud and streams it across a high-speed, low-latency network. On the receiving end, a splat-based Tenderer employs a new algorithm to efficiently resample the points in real-time, maintaining a user-specified frame rate. Parallel hardware projects onto multiple screens while head tracking equipment records the viewer's movements, allowing the receiver to view a stereoscopic 3D representation of the sender from multiple angles. We can combine these visuals with appropriate use of multiple audio channels to forge an unparalleled virtual experience. This next step towards immersive 3D videoconferencing brings us closer to empowering worldwide collaboration between research departments. © 2008 IEEE.

DOI： 10.1109/eScience.2008.42

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Next-generation Teaching and Learning Platform for Higher Educational Institutions(<Special Issue> Application and Aggregation of Learning Objects and Learning Data)

KAJITA Shoji, KAKUSHO Koh, NAKAZAWA Atsushi, TAKEMURA Haruo, MINOH Michihiko, MASE Kenji

Japan journal of educational technology   31 ( 3 )   297 - 305   2007.12

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This paper describes Course Management Systems (CMSs) from the viewpoint of Open Source and Open Standard in terms of Software Architecture. CMS is a key information infrastructure for supporting teaching and learning in higher educational institutions. The effective use of CMS requires the integration with Student Information Systems (SIS), e-Library and other information infrastructures, along with strategic planning and sustainable development. In this paper, we also introduce our latest activities to develop next-generation CMS since 2004.

DOI： 10.15077/jjet.KJ00004964294

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高等教育機関における次世代教育学習 支援プラットフォームの構築に向けて Reviewed

梶田 将司, 角所 考, 中澤 篤志, 竹村 治雄, 美濃 導彦, 間瀬 健二

日本教育工学会論文誌   31 ( 3 )   36-45   2007.12

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Real-Time Space Carving Using Graphics Hardware(<Special Section>Image Recognition and Understanding)

NITSCHKE Christian, NAKAZAWA Atsushi, TAKEMURA Haruo

IEICE transactions on information and systems   90 ( 8 )   1175 - 1184   2007.8

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Reconstruction of real-world scenes from a set of multiple images is a topic in computer vision and 3D computer graphics with many interesting applications. Attempts have been made to real-time reconstruction on PC cluster systems. While these provide enough performance, they are expensive and less flexible. Approaches that use a GPU hardware-acceleration on single workstations achieve real-time framerates for novel-view synthesis, but do not provide an explicit volumetric representation. This work shows our efforts in developing a GPU hardware-accelerated framework for providing a photo-consistent reconstruction of a dynamic 3D scene. High performance is achieved by employing a shape from silhouette technique in advance. Since the entire processing is done on a single PC, the framework can be applied in mobile environments, enabling a wide range of further applications. We explain our approach using programmable vertex and fragment processors and compare it to highly optimized CPU implementations. We show that the new approach can outperform the latter by more than one magnitude and give an outlook for interesting future enhancements.

DOI： 10.1093/ietisy/e90-d.8.1175

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Automatic Synthesis of Dance Performance Using Motion and Musical Features

SHIRATORI Takaaki, NAKAZAWA Atsushi, IKEUCHI Katsushi

The IEICE transactions on information and systems   90 ( 8 )   2242 - 2252   2007.8

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Refinement of the Shape Reconstructed by Visual Cone Intersection using Fitting the Standard Human Model

HATTORI YUICHI, NAKAZAWA ATSUSHI, TAKEMURA HARUO

IPSJ SIG Notes. CVIM   2007 ( 31 )   147 - 154   2007.3

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3D human model reconstruction using visual cone intersection between images captured by multiple cameras has been thoroughly researched, but the accuracy of the shape estimation by previous methods is limited due to the use of silhouette images. Increasing the number of cameras can help improve accuracy, but the problems of unsmooth surfaces appearing in the shape data and the disappearance of the surface normal will still remain. In this research, we try to refine this process by reshaping the reconstructed model. First, we estimate a subject's pose from captured human shape data and create a parts-fitted model using standard human model parts prepared in advance. Afterwards, we reshape the parts-fitted model based on the surface normal vector. By doing this, we can obtain an accurate and refined 3D human model that maintains the subject's pose and characteristics of his body.

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Multilinear analysis for task recognition and person identification Reviewed

Manoj Perera, Takaaki Shiratori, Shunsuke Kudoh, Atsushi Nakazawa, Katsushi Ikeuchi

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9   1415 - +   2007

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This paper introduces a Multi Factor Tensor(MFT) model to recognize motion styles and person identities in dance sequences. We apply a musical information analysis method in segmenting the motion sequence relevant to the key poses and the musical rhythm. We define a task model considering the repeated motion segments, where the motion is decomposed into person invariant factor task and person dependant factor style. We capture the motion data of different people for a few cycles, segment it using the musical analysis approach, normalize the segments using a vectorization method, and realize our MYT model. The experiments are conducted according to two approaches. Various experiments that we conduct to evaluate the potential of the recognition ability of our proposed approaches and the results demonstrate the high accuracy of our model. The recognition results and the motion decomposition with be used in further extending the motion generation process in various styles and for different tasks.

DOI： 10.1109/IROS.2007.4399293

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ボリュームデータの細線化とグラフマッチングを用いた事例ベース人体姿勢推定

田中 秀典, 中澤 篤志, 竹村 治雄

研究会講演予稿   229   57 - 64   2006.11

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Compression of Time Seaquence Volume Data using 3D Hu Invariant Moments

HATTORI Yuichi, NAKAZAWA Atsushi, MACHIDA Takashi, TAKEMURA Haruo

IPSJ SIG Notes. CVIM   2006 ( 51 )   145 - 150   2006.5

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Time sequence 3D data has a broad range of application and is a research area expected for the future development. The time sequence 3D data has such a huge data size that data compression is essential when it is transmitted and saved. This paper proposes a compression method by using the time sequence block-matching with extended 3D Hu invariant moment for the purpose of reduction of the data time redundancy. In this method, the data compression ratio is improved by detecting the rotational motion of an object that is not considered in the existing method.

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Example Based Approach for Human Pose Estimation using Volume Data and Graph Matching

TANAKA Hidenori, NAKAZAWA Atsushi, MACHIDA Takashi, TAKEMURA Haruo

IPSJ SIG Notes. CVIM   2006 ( 51 )   131 - 136   2006.5

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In this paper, we propose a novel marker free motion capture method by using volume data. A volume data is reconstructed from multiple camera views at each frame through visual hull based method. Then, the thinness process is performed to idenfity the structure of the volume. Here, we can get the model skeleton graph in which a body and limbs are expressed as the nodes, and links expresses the connectivity between them. We compare the acquired graph and the graphs in the Model Graph Database (MGDB) and find the most similar one. The MGDB contains the example graphs which express the human body postures. Because the nodes of the MGDB graph are labeled according to the body portions, we can know the portions of input graph (skeleton) from the graph matching result. Finally we fit the skeleton and human body portions' model by using the identification results of the body portions. The experiment result shows the validity our approach.

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Report on the 10th IEEE International Conference on Computer Vision (ICCV2005)

FURUKAWA Ryo, KATO Takekazu, KAWASAKI Hiroshi, MITA Takeshi, MIYAZAKI Daisuke, NAKAZAWA Atsushi, SATO Tomokazu, SUGAYA Yasuyuki, UTSUMI Akira, SUGIMOTO Akihiro, SATO Yoichi, WADA Toshikazu

IEICE technical report   105 ( 674 )   249 - 258   2006.3

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This report gives an overview of the 10th IEEE international conference on computer vision (ICCV2005), which was held in Beijing, China, from October 17th to 20th, 2005.

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Report on the l0th IEEE International Conference on Computer Vision(ICCV2005)

FURUKAWA Ryo, KATO Takekazu, KAWASAKI Hiroshi, MITA Takeshi, MIYAZAKI Daisuke, NAKAZAWA Atsushi, SATO Tomokazu, SUGAYA Yasuyuki, UTSUMI Akira, SUGIMOTO Akihiro, SATO Yoichi, WADA Toshikazu

IPSJ SIG Notes. CVIM   2006 ( 25 )   421 - 430   2006.3

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This report gives an overview of the 10th IEEE international conference on computer vision (ICCV2005), which was held in Beijing, China, from October 17th to 20th, 2005.

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D-12-69 Volume Based Motion Capture Considering Topological Difference

Tanaka Hidenori, Nakazawa Atsushi, Machida Takashi, Takemura Haruo

Proceedings of the IEICE General Conference   2006 ( 2 )   201 - 201   2006.3

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D-12-46 A Compression Method of Time Sequence Volume Data using 3D Hu Invariant Moments

Hattori Yuichi, Nakazawa Atsushi, Machida Takashi, Takemura Haruo

Proceedings of the IEICE General Conference   2006 ( 2 )   178 - 178   2006.3

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人の動きのデジタル化とその応用--モーションキャプチャと音楽情報を利用した舞踊動作の解析と生成

白鳥 貴亮, 池内 克史, 中澤 篤志

画像ラボ   17 ( 3 )   1 - 5   2006.3

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インデックス画像を用いた複数距離画像の高速同時位置合せ

大石 岳史, 中澤 篤志, 池内 克史

電子情報通信学会論文誌. D, 情報・システム = The IEICE transactions on information and systems / 電子情報通信学会 編   89 ( 3 )   513 - 521   2006.3

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Task recognition and style analysis in dance sequences Reviewed

Manoj Perera, Takaaki Shiratori, Shunsuke Kudoh, Atsushi Nakazawa, Katsushi Ikeuchi

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems   329 - 334   2006

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In this paper we present a novel approach to recognizing motion styles and identifying persons using the Multi Factor Tensor (MFT) model. We apply a musical information analysis method in segmenting the motion sequence relevant to the key poses and the musical rhythm. We define a task model considering the repetitive motion segment, in which motion is decomposed into task and style. Given the motion data set, we formulate the MFT model and factorize it efficiently in recognizing the tasks, the styles, and the identities of persons. In our experiments, traditional dance by several people is chosen as the motion sequence. We capture the motion data for a few cycles, segment it using the musical analysis approach, normalize the segments, and recognize a task model from them. Various experiments to evaluate the potential of the recognition ability of our proposed approach are performed, and the results demonstrate the high accuracy of our model. © 2006 IEEE.

DOI： 10.1109/MFI.2006.265645

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観察学習パラダイムに基づく二足歩行ヒューマノイドロボットによる舞踊動作の再現 (特集:身体と運動の進化)

池内 克史, 中澤 篤志, 工藤 俊亮

バイオメカニクス研究   10 ( 3 )   190 - 202   2006

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Synthesizing dance performance using musical and motion features Reviewed

Takaaki Shiratori, Atsushi Nakazawa, Katsushi Ikeuchi

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10   2006   3654 - +   2006

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This paper proposes a method for synthesizing dance performance synchronized to played music and our method presents a system that imitates dancers' skills in performing their motion while they listen to the music. Our method consists of a motion analysis, a music analysis, and a motion synthesis based on results of the analyses. In these analysis steps, motion and music features are acquired. These features are derived from motion keyframes, motion intensity, music intensity, musical beats, and chord changes. Our system also constructs a motion graph to search similar poses from given dance sequences and to connect them as possible transitions. In the synthesis step, the trajectory that provides the best correlation between music and motion features is selected from the motion graph, and the resulting motion is generated. Our experimental results indicate that our proposed method actually creates dance as the system "hears" the music.

DOI： 10.1109/ROBOT.2006.1642260

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Parallel Simultaneous Alignment of a Large Number of Range Images on Distributed Memory System(Image Processing)

OISHI TAKESHI, SAGAWA RYUSUKE, NAKAZAWA ATSUSHI, KURAZUME RYO, IKEUCHI KATSUSHI

IPSJ Journal   46 ( 9 )   2369 - 2378   2005.9

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This paper describes a method for parallel alignment of multiple range images. Since it is difficult to align a large number of range images simultaneously, we developed a parallel method to accelerate and reduce the memory requirement of the process. Although a general simultaneous alignment algorithm searches correspondences for all pairs of all range images, by rejecting redundant dependencies, our method makes it possible to accelerate computation time and reduce the amount of memory used on each node. The correspondence search is performed independently for each pair of range images. A...

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Parallel Simultaneous Alignment of a Large Number of Range Images on Distributed Memory System

OISHI TAKESHI, SAGAWA RYUSUKE, NAKAZAWA ATSUSHI, KURAZUME RYO, IKEUCHI KATSUSHI

IPSJ journal   46 ( 9 )   2369 - 2378   2005.9

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This paper describes a method for parallel alignment of multiple range images. Since it is difficult to align a large number of range images simultaneously, we developed a parallel method to accelerate and reduce the memory requirement of the process. Although a general simultaneous alignment algorithm searches correspondences for all pairs of all range images, by rejecting redundant dependencies, our method makes it possible to accelerate computation time and reduce the amount of memory used on each node. The correspondence search is performed independently for each pair of range images. Accordingly, the computations between the pairs are preformed in parallel on multiple processors. All relations between range images are described as a pair node hyper-graph. Then, an optimal pair assignment is computed by partitioning the graph properly. The method was tested on a 16 processor PC cluster, where it demonstrated the high extendibility and the performance improvement in time and memory.

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The Structure Analysis of Dance Motions Using Motion Capture and Musical Information

SHIRATORI Takaaki, NAKAZAWA Atsushi, IKEUCHI Katsushi

The transactions of the Institute of Electronics, Information and Communication Engineers. D-II   88 ( 8 )   1662 - 1671   2005.8

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Extraction of Natural Quadric Surfaces from Range Image Using Hough Transform and EM Algorithm

YAMAMOTO Kokushi, NAKAZAWA Atsushi, KIYOKAWA Kiyoshi, TAKEMURA Haruo

IEICE technical report. Natural language understanding and models of communication   104 ( 667 )   55 - 60   2005.2

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In this paper, we present a novel method to estimate several natural quadric (sphere, cylinder, and cone) and plane surface parameters from a range image. First, model surface parameters are estimated using Hough transform technique. Based on these estimated parameters, more reliable parameters are calculated using the EM algorithm. We implemented this method and applied to actual range data.

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観察に基づく音楽およびモーションキャプチャデータからの舞踊動作生成手法

中澤篤志

第22回画像の認識 理解シンポジウム (MIRU2005), August   2005

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Fast simultaneous alignment of multiple range images using index images Reviewed

T Oishi, A Nakazawa, R Kurazume, K Ikeuchi

FIFTH INTERNATIONAL CONFERENCE ON 3-D DIGITAL IMAGING AND MODELING, PROCEEDINGS   476 - 483   2005

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Language：English   Publisher：IEEE COMPUTER SOC  

This paper describes a fast and easy-to-use simultaneous alignment method of multiple range images. The most time consuming part of alignment process is searching corresponding points. Although "Inverse calibration" method quickly searches corresponding points in complexity O(n), where n is the number of vertices, the method requires some look-up tables or precise sensor parameters. Then, we propose an easy-to-use method that uses "Index Image": "Index image" can be rapidly created using graphics hardware without precise sensor parameters. For fast computation of rigid transformation matrices of a large number of range images, we utilized linearized error function and applied incomplete Cholesky conjugate gradient (ICCG) method for solving linear equations. Some experimental results that aligned a large number of range images measured with laser range sensors show the effectiveness of our method.

DOI： 10.1109/3DIM.2005.41

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Task model of lower body motion for a biped humanoid robot to imitate human dances Reviewed

S Nakaoka, A Nakazawa, F Kanehiro, K Kaneko, M Morisawa, K Ikeuchi

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4   2769 - 2774   2005

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The goal of this study is developing a biped humanoid robot that can observe a human dance performance and imitate it. To achieve this goal, we propose a task model of lower body motion, which consists of task primitives (what to do) and skill parameters (how to do it). Based on this model, a sequence of task primitives and their skill parameters are detected from human motion, and robot motion is regenerated from the detected result under constraints of a robot. This model can generate human-like lower body motion including various waist motions as well as various stepping motions of the legs. Generated motions can be performed stably oil an actual robot supported by its own legs. We used improved robot hardware HRP-2, which has superior features in body weight, actuators, and DOF of the waist. By using the proposed method and HRP-2, we have realized a dance performance of Japanese folk dance by the robot, which is synchronized with a performance of a human grand master on the same stage.

DOI： 10.1109/IROS.2005.1545395

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語学教育教 材を利用した大学合同による実証実験 Reviewed

間瀬健二, 梶田将司, Seiie Jang, 上田真由美, 杉浦達樹, 佐々木順子, 美濃導彦, 壇辻正剛, 中村 裕一, 角所考, 元木環, 正司哲朗, 竹村治雄, 中澤篤志, 浦真吾, 鐘ヶ江力, 岩澤亮祐

文部科学省研究委託事業『知的資産の電子的な保存・活用を 支援するソフトウェア技術基盤の構築』平成17 年度研究概要, pp. 27–34, 2005-12.   2005

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大阪大学サイバーメディアセンターにおける新情報教育システム

桝田秀夫, 小川剛史, 中澤篤志, 町田貴史, 清川清, 竹村治雄

PC Conference論文集   2005 (Web)   2005

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ユビキタス環境下での次世代コース管理システム

梶田 将司, 中澤 篤志, 角所 考

名古屋大学情報連携基盤センターニュース   3 ( 4 )   271 - 276   2004.11

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Structure Analysis of Human Motion and Motion Imitation of Humanoids -Dancing Humanoid Project-

NAKAZAWA Atsushi, NAKAOKA Shinichiro, SHIRATORI Takaaki, KUDOH Shunsuke, IKEUCHI Katsushi

IPSJ SIG Notes. CVIM   2004 ( 113 )   31 - 39   2004.11

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The interaction of robots is the reaction to their outer world according to the outer signals made by humans or environments. In particular, the humanoids which do the cooperative tasks with humans have to be considered how smoothly and naturally communicate with humans. This is achieved by the technologies of the natural motion synthesis or understanding of outer signals. In this paper, we introduce our project which aims to develop the methods to import human motion into humanoids, in particular, human dance motion. Through our research, we concentrated that how to express the 'naturality' of human and synchronization method to the important signals of dances: music signals.

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Other Link： http://id.nii.ac.jp/1001/00052434/

民俗芸能のデジタルアーカイブとロボットによる動作提示

池内 克史, 中澤 篤志, 小川原 光一, 高松 淳, 工藤 俊亮, 中岡 慎一郎, 白鳥 貴亮

日本バーチャルリアリティ学会誌 = Journal of the Virtual Reality Society of Japan   9 ( 2 )   78 - 84   2004.6

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Modeling Indoor Scene by Determining its Reflection Parameters

HARADA TAKAAKI, HARA KENJI, NAKAZAWA ATSUSHI, SAITO HIROAKI, IKEUCHI KATSUSHI

IPSJ SIG Notes. CVIM   2004 ( 6 )   45 - 52   2004.1

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To realistically model indoor scene is crucial and challenging problem. Indoor scene has a large number of three-dimensional range data and spatial restriction in two-dimensional photographing, as well as inevitable specularities in certain parts. In this paper we intend to deal with such a problem. Principally, our method use three-dimensional (3D) geometrical data and ordinary two-dimensional (2D) color images. The 3D geometrical data is created using parallel alignment and merging of a large number of range data. We texture the 3D data with 2D color images using simultaneous registering technique. Then, we estimate the reflection parameters of the diffuse and specular reflection components from a single image where specularities occur. Finally, using all acquired and estimated data, we can generate synthetic images of real objects realistically.

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Other Link： http://id.nii.ac.jp/1001/00052531/

Simultaneous Alignment of a Large Number of Range Images

大石岳史, 佐川立昌, 中沢篤志, 倉爪亮, 池内克史

3D映像   18 ( 4 )   2004

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Matching and blending human motions using temporal scaleable dynamic programming Reviewed

A. Nakazawa, S. Nakaoka, K. Ikeuchi

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   1   287 - 294   2004

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Detecting dance motion structure through music analysis Reviewed

T Shiratori, A Nakazawa, K Ikeuchi

SIXTH IEEE INTERNATIONAL CONFERENCE ON AUTOMATIC FACE AND GESTURE RECOGNITION, PROCEEDINGS   857 - 862   2004

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In these days, many important intangible culturalproperties of the world are being lost because of the lack of successive performers. Digital archiving technology is one of the effective solutions for this issue, and we have started our digital archiving project of cultural properties including these intangible ones. For these human motion archives, the method of automatic motion structure analysis is vital for a variety of purposes. We believe that the dance motion consists of "primitive motions" and that motion analysis is necessary to detect these components. Particularly for dance motions, we think these primitives must be synchronized to the musical rhythm. In this paper, we introduce musical information for motion structure analysis. This method automatically detects the musical rhythm and segments the original motion, and classifies them as to the primitive motions. The experimental results confirm that our motion analysis yielded the primitive motions in accordance to the musical rhythm.

DOI： 10.1109/AFGR.2004.1301641

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Representing cultural heritage in digital forms for VR systems through computer vision techniques Reviewed

K Ikeuchi, A Nakazawa, K Hasegawa, T Ohishi

PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON PATTERN RECOGNITION, VOL 4   4   1 - 6   2004

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This paper overviews our research on digital preservation of cultural assets and digital restoration of their original appearance. Geometric models are digitally achieved through a pipeline consisting of scanning, registering and merging multiple range images. We have developed a robust simultaneous registration method and an efficient and robust voxel-based integration method. On the geometric models created, we have to align texture images acquired from a color camera. We have developed a texture mapping method to utilize laser reflectance. In an attempt to restore the original appearance of historical heritage objects, we have synthesized several buildings and statues using scanned data and literature survey with advice from experts.

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スケーラブルDPを用いた人間動作のマッチングと生成

中澤篤志

MIRU2004   1   171 - 176   2004

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Symbolic Motion Description for a Dancing Humanoid Robot

NAKAOKA Shinichiro, NAKAZAWA Atsushi, YOKOI Kazuhito, IKEUCHI Katushi

Technical report of IEICE. PRMU   103 ( 390 )   55 - 60   2003.10

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We have developed a system for humanoid robots to imitate whole body motions performed by a human. Our target motions are traditional folk dances. Human motions can be acquired by a motion capturing system. However, those motion data cannot be imported directly into a robot which have body properties different from that of humans. In order to realize the motion which satisfies the essence of the original dance motion under the robot constraints, we propose a motion recognition and generation method using symbolic motion descriptions. This method have realized an actual performance of "Tsugaru Jongara-Bushi", which is one of the Japanese traditional folk dances, on the humanoid robot "HRP-1S".

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Estimating Illumination Position, Color and Surface Reflectance Properties from a Single Image

HARA KENJI, RobbyT.Tan, NISHINO KO, NAKAZAWA ATSUSHI, IKEUCHI KATSUSHI

44 ( 9 )   94 - 104   2003.7

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In this paper we propose a new method for estimating a position and color of a light source, as well as reflectance properties of a real object's surface, from a single image. We use the intensity of the diffuse and specular component for estimating the light source position, while the color distribution of the specular region is for estimating the light source color. The flow of this method is basically as follows: first, an initial position of the light source is estimated from a peak location of the specular region and a rough intensity value of the diffuse region. This diffuse-to-specular intensity value is also used to determine the initial values of the object reflectance properties. After having the initial values, using iterative fitting method, the light position and reflectance properties are estimated simultaneously. Finally, the estimation process of the light source color is based on the color distribution of the specular region. By knowing the light source position, color and the object reflectance properties, we can freely generate synthetic images under arbitrary light source conditions.

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Retrieving and applying human dance motion styles from several motion data

NAKAZAWA Atsushi, NAKAOKA Shinichiro, IKEUCHI Katsushi

IPSJ SIG Notes. CVIM   2003 ( 36 )   101 - 107   2003.3

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This paper presents, the method to analyze human motion for the purpose of digital archive of intangible cultural heritages, such as folk dances. In the recent studies, the whole motion sequence is segmented and directly use for computer animation or motion analysis. We proposes the idea that the human dance motion consists of 'Basic Motion' and 'Motion Styles'. The Basic Motion is common motion for any dancers, and Motion Styles represents the uniqueness of the individual dancers. In the experiment, we confirmed proposed method works effectively through different motion data of male and femail dancers.

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Other Link： http://id.nii.ac.jp/1001/00052645/

Parallel Alignment of a Large Number of Range Images on PC Cluster

OISHI Takeshi, SAGAWA Ryusuke, NAKAZAWA Atsushi, KURAZUME Ryo, IKEUCHI Katsushi

IPSJ SIG Notes. CVIM   137 ( 36 )   27 - 34   2003.3

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This paper describes a parallel alignment method of multiple range images. It is difficult to align a large number of range images simultaneously. Therefore, we developed the parallel method to improve the time performance ana memory performance. The method was tested on 16 processor PC cluster and shown the high extendibility and the performance improvement in time and memory.

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Geometric and Photometric Merging for Large-Scale Objects

SAGAWA Ryusuke, MASUDA Tomohito, OISHI Takeshi, NISHINO Ko, NAKAZAWA Atsushi, KURAZUME Ryo, IKEUCHI Katsushi

IPSJ SIG Notes. CVIM   137 ( 36 )   9 - 18   2003.3

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In this paper, we consider the geometric and photometric modeling of large-scale and intricately shaped objects, such as cultural heritage objects. When modeling such objects, new issues occurred during the modeling steps which had not been considered in the previous research conducted on the modeling of small, indoor objects. First, when modeling a large-scale and intricately shaped object, a huge amount of data is required to model the object. We would like to propose two approaches to handling this amount of data. We propose a novel method for searching the nearest neighbor by extending the search algorithm using a k-d tree. We constructed a merged model in adaptive resolution according to the geometric and photometric attributes of range images for efficient use of computational resources. Second, we reconstructed a 3D model with an appearance which successfully discarded outliers due to specular reflection, by taking a consensus of the appearance changes of the target object from multiple range images. The photometric attribute of the model can be used for aligning with 2D color images. The third issue is complementing unobservable surfaces of an object. We propose a novel method to complement such holes or gaps in the surfaces, areas which are not observed by any scans. In this novel method, the surface of an object is scanned using various kinds of sensors. We efficiently complement them by taking a consensus of the signed distances of neighbor voxels.

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Recognition and Generation of Leg Motion for Dance Imitation by a Humanoid Robot

NAKAOKA Shinichiro, NAKAZAWA Atsushi, YOKOI Kazuhito, IKEUCHI Katsushi

IPSJ SIG Notes. CVIM   2003 ( 36 )   93 - 100   2003.3

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This study attempts to realize a humanoid robot which can imitate human dances. Human motion can be acquired by a motion capturing system. However, the captured data cannot be directly imported to a robot because of difference of body structure between a human and the robot. Since leg motion must consider balance keeping, constraints of it is too restricted to apply the captured data. This paper proposes a method to recognize human motion and generate robot motion from the recognition result. Primitive motions which is required to express leg motion in dances are defined. A sequence of primitives is extracted from captured motion data. Leg motion of a robot is generated from the primitive sequence to satisfy the leg constraints and the dynamic balance. Generated motion is tested on OpenHRP dynamics simulator. We certified validity of this method.

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Generating whole body motions for a biped humanoid robot from captured human dances Reviewed

S Nakaoka, A Nakazawa, K Yokoi, H Hirukawa, K Ikeuchi

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS   3   3905 - 3910   2003

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The goal of this study is a system for a robot to imitate human dances. This paper describes the process to generate whole body motions which can be performed by an actual biped humanoid robot. Human dance motions are acquired through a motion capturing system. We then extract symbolic representation which is made up of primitive motions: essential postures in arm motions and step primitives in leg motions. A joint angle sequence of the robot is generated according to these primitive motions. Then joint angles are modified to satisfy mechanical constraints of the robot. For balance control, the waist trajectory is moved to acquire dynamics consistency based on desired ZMP. The generated motion is tested on OpenHRP dynamics simulator. In our test, the Japanese folk dance, 'Jongara-bushi' was successfully performed by HPP-1S.

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Modeling from Reality - Creating virtual reality models through observation Reviewed

K Ikeuchi, A Nakazawa, K Nishino, R Sagawa, T Oishi, H Unten

VIDEOMETRICS VII   5013   117 - 128   2003

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In this paper, we present an overview of our project to construct a digital archive of cultural heritages. Among the efforts in our project, we briefly overview our research on geometric and photometric preservation of cultural assets and restoration of their original appearance. Digital geometric modeling is achieved through a pipeline consisting of scanning, registering and merging multiple range images. For these purposes, we have developed a robust simultaneous registration method and an efficient and robust voxel based integration method. On top of the geometrical model, we align texture images acquired at the scanning. Because the geometrical relation between the range sensor and the image sensor are calibrated, we automatically align texture images onto the geometrical models. For photometric modeling, we have developed a surface light field based method, which captures the appearance variation of real world objects under different viewpoints and illumination conditions from a series of images. As an attempt to restore the original appearance of historical heritages, we have reconstructed several buildings and statues that have been lost in the past. In this paper, we overview these techniques and show several results of applying the proposed methods to existing ancestral assets.

DOI： 10.1117/12.473086

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A Survey of the Cooperative Distributed Visual Tracking Systems

NAKAZAWA ATSUSHI, HIURA SHINSAKU, KATO HIROKAZU

43 ( 11 )   11 - 20   2002.12

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This paper shows the introduction and survey of the Cooperative Distributed Vision (CDV) systems that consist of many image processor and cameras connected through a computer network. Nowadays, some systems that is based on the idea of CDV systems have been proposed. We evaluate the difference between each systems according to their image processing hierarchy, communication procedure, control rules, their independency and resulting features. These survey is expected for the designing new CDV based image recognition systems.

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JST-1 Digital Archive of Cultural Heritage through Observation

IKEUCHI Katsushi, NAKAZAWA Atsushi

2002   1 - 2   2002.9

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解説 分散協調視覚による広域観測システム--多数のカメラとネットワークによる高度な広域観測

中澤 篤志, 浮田 宗伯, 加藤 丈和

画像ラボ   13 ( 8 )   6 - 11   2002.8

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Digital Archive of Cultural Heritage through Observation

IKEUCHI Katsushi, NAKAZAWA Atsushi

Journal of the Visualization Society of Japan   22   7 - 10   2002.7

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Tracking multiple persons using distributed vision systems

NAKAZAWA Atsushi, KATO Hirokazu, HIURA Shinsaku, INOKUCHI Seiji

IPSJ SIG Notes. CVIM   2002 ( 2 )   37 - 44   2002.1

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This paper shows the multiple targets watching method in wide-area spatial environment using the Distributed Vision Systems (DVS). DVS is constructed with some "watching stations" that consist of a camera and an image processor and a computer network connects them. This system's goal is to track multiple persons in a wide-area that cannot be watched by one visual sensor. We introduce three algorithms to realize this system, realtime human tracking method, the task decision algorithms of watching stations and the object-matching method between stations. Finally, we describe experimental results that show the validity of our approach.

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視覚による舞踊動作の保存 解析および生成

中澤篤志

画像の認識 理解シンポジウム2002   153   2002

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Imitating human dance motions through motion structure analysis Reviewed

A Nakazawa, S Nakaoka, K Ikeuchi, K Yokoi

2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS   3   2539 - 2544   2002

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This paper presents the method for importing human dance motion into humanoid robots through visual observation. The human motion data is acquired from a motion capture system consisting of 8 cameras and 8 PC clsters. Then the whole motion sequence is divided into some motion elements and clusterd into some groups according to the correlation of end-effectors' trajectories. We call these segments as 'motion primitives'. New dance motions are generated by concatenating these motion primitives. We are also trying to make a humanoid dance these original or generated motions using inverse-kinematics and dynamic balancing technique.

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Iterative Refinement of Range-Measurement Accuracy by Considering the Direction of Error of Range Images.

大石岳史, 佐川立昌, 中沢篤志, 倉爪亮, 池内克史

情報処理学会シンポジウム論文集   2002 ( 11,Pt.2 )   2002

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Digital Archive of the Human Motion

2001   25 - 32   2001.12

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分散視覚エージェントを用いた複数人物追跡システム

中澤篤志

情報処理学会論文誌   42 ( 11 )   2699 - 2710   2001

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Human Positioning System Using Distributed Camera Agents

NAKAZAWA Atsushi, KATO Hirokazu, INOKUCHI Seiji

Transactions of Information Processing Society of Japan   41 ( 10 )   2895 - 2906   2000.10

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This paper proposes the "Distributed Camera System" that can detect human position in a wide area. This system is constructed of many "camera agents" and achieves a task due to cooperation. Camera agents consist of a camera and an image processor and a computer network connects them. They are placed in a real environment and their viewing areas are either overlapping or separated. Each camera agent makes plans using an environmental map and the viewing information of the agent. Using these plans, the system can continuously track a person across all the viewing areas of camera agents. In addition, this system is robust wiht respect to agent's failure. We tested this system in two aspects : the detected trajectories adn the system's robustness. In this paper, we present the results of these evaluations, confirming the efficiency of our system.

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Other Link： http://id.nii.ac.jp/1001/00012173/

分散観測エージェントによる複数人物の追跡

中澤篤志

画像の認識理解シンポジウム(MIRU2000)予稿集   15 - 20   2000

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Realtime Human Tracking Using Ellipsoid Model

KATO Hirokazu, NAKAZAWA Atsushi, INOKUCHI Seiji

Transactions of Information Processing Society of Japan   40 ( 11 )   4087 - 4096   1999.11

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This paper describes a real-time human tracking method using ellipsoid model. Several images that simulate real image are generated by using a camera parameter and environmental information. These images are compared with an input image and human positions are determined by those similarities. A human is simply represented by a ellipsoid to achieve a real-time operation on a standard personal computer. To integrate some tracking systems using this method can be achieved easily because human positions are measured and managed on a world coordinates. In accuracy evaluations for a standing human, the average errors were within about 0.2 meter except the case that both head and foot were occluded. In the tracking experiment for 2 humans, the algorithm was able to work successfully. However, tracking sometimes failed because of shadows or reflections. We will consider the integration of several systems.

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分散カメラシステムによる人物の追跡

中澤篤志

画像の認識 理解シンポジウム (MIRU'98)   1   1 - 6   1998

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Image Fusion System for Object Tracking

KATO Hirokazu, NAKAZAWA Atsushi, INOKUCHI Seiji

13   125 - 128   1996.10

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