Jun Miura

Tightly-Coupled Dynamic Object Tracking and RGB-D Inertial Odometry Estimation with Dual Quadrics

Combining Ontological Knowledge and Large Language Model for User-Friendly Service Robots

Lifestyle support through robotics is an increasingly promising field, with expectations for robots to take over or assist with chores like floor cleaning, table setting and clearing, and fetching items. The growth of AI, particularly foundation models, such as large language models (LLMs) and visua…

Multi-Source Soft Pseudo-Label Learning with Domain Similarity-based Weighting for Semantic Segmentation

This paper describes a method of domain adap-tive training for semantic segmentation using multiple source datasets that are not necessarily relevant to the target dataset. We propose a soft pseudo-label generation method by integrating predicted object probabilities from multiple source models. The…

Interactive 3D Graph SLAM for Map Correction

This letter presents an interactive graph SLAM framework with a 3D LIDAR. This framework allows the user to interactively correct a 3D environmental map generated by an automatic SLAM system. By optimizing a pose graph consisting of pose constraints created by the automatic SLAM and map correction c

C*: Cross-Modal Simultaneous Tracking and Rendering for 6-DoF Monocular Camera Localization Beyond Modalities

We present a monocular camera localization technique for a three-dimensional prior map. Visual localization has been attracting considerable attention as a lightweight and widely available localization technique for any mobilities; however, it still suffers from appearance changes and a high computa

Collision Risk Assessment via Awareness Estimation Toward Robotic Attendant

With the aim of contributing to the development of a robotic attendant system, this study proposes the concept of assessing the risk of collision using awareness estimation. The proposed approach enables an attendant robot to assess a person's risk of colliding with an obstacle by estimating whether…

Generating Adaptive Attending Behaviors using User State Classification and Deep Reinforcement Learning

This paper describes a method of generating attending behaviors adaptively to the user state. The method classifies the user state based on user information such as the relative position and the orientation. For each classified state, the method executes the corresponding policy for behavior generat…

Person identification based on the matching of foot strike timings obtained by LRFs and a smartphone

This paper describes a person identification method using a smartphone and laser range finders (LRFs) for a mobile service robot. The robot is equipped with LRFs and the target person holds a smartphone. The method first detects the foot strike timings of the target person using the smartphone and t…