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Kazunori Ohno

23 accepted papers

2026

Autonomous Drone-Ground Robot Alignment through Ground Robot Visual Servo Control with Drone Detection and Tilt Correction

Sean Clark Dominguez, Jeanette Pao, Immanuel Paradela, John Mel Bolaybolay, Earl Ryan Aleluya, Francis Jann Alagon +6
ICRA 2026poster

Retrieving ground robots from dangerous environments after their operation is a challenging task that poses risks for the personnel. Some researchers often employ drones for retrieval, which makes operations safer. However, this setup requires an accurate method that guarantees drone and ground robo…

Cited by 0Source ↗Scholar ↗
2026

Drone Landing Performance in Windy Conditions: Comparing the Vertical and Horizontal Landing Approaches with the EAGLES Port

Iuri Pereira Barros, Yoshito Okada, Kenjiro Tadakuma, Masahiro Watanabe, Masashi Konyo, Kazunori Ohno +3
ICRA 2026poster

Drone docking stations promote efficient operations of drones, but they usually support only one vehicle, and are accessible primarily through vertical landing. These limitations hinder multi-drone operations and result in challenges for fast, precise docking, particularly under severe wind conditio…

Cited by 0Source ↗Scholar ↗
2025

Autonomous Drone-Ground Robot Alignment Through Ground Robot Visual Servo Control With Drone Detection and Tilt Correction

Sean Clark Dominguez, Jeanette C. Pao, Immanuel P. Paradela, John Mel Bolaybolay, Earl Ryan M. Aleluya, Francis Jann Alagon +6
RA-L 2025

Retrieving ground robots from dangerous environments after their operation is a challenging task that poses risks for the personnel. Some researchers often employ drones for retrieval, which makes operations safer. However, this set-up requires an accurate method that guarantees drone and ground rob

Cited by 0Source ↗Scholar ↗
2022

Active Autorotation of Micro Aerial Vehicle with Foldable Winged Shell for Impact Mitigation during Free Fall

Quek Ching Alvin, Kazunori Ohno, Yoshito Okada, Daiki Fujikura, Satoshi Abe, Masaki Takahashi +2
ICRA 2022poster

Drop mitigation is an important function of micro aerial vehicles (MAVs) that are used for internal inspections of enclosed and cluttered structures (height: 5–10 m). The mechanism also allows continuous operation of drones, prevents the downtime required for maintenance and repair and also provides…

Cited by 3Source ↗Scholar ↗
2022

Cooperative Towing by Multi-Robot System That Maintains Welding Cable in Optimized Shape

Ryota Suzuki, Yoshito Okada, Yoshiki Yokota, Tatsuyoshi Saijo, Haruhiko Eto, Yuya Sakai +4
RA-L 2022

As considerable amounts of welding are required during ship construction, robotic automation is being promoted. However, current welding robots do not automate work in high or narrow places. One reason is that welding cannot be performed with sufficient accuracy because a welding robot with a torch

Cited by 7Source ↗Scholar ↗
2022

Electrocardiogram Measurement and Emotion Estimation of Working Dogs

Kazunori Ohno, Kotaro Sato, Ryunosuke Hamada, Takatomi Kubo, Kazushi Ikeda, Miho Nagasawa +4
RA-L 2022

Physiological measurements of dogs' emotional states during human-animal interactions are essential for understanding the underlying biological relationship. Heart rate measured by electrocardiogram (ECG) can be used for the physiological measurement of emotional state. Soft disposable electrodes, w

Cited by 10Source ↗Scholar ↗
2022

LayoutSLAM: Object Layout based Simultaneous Localization and Mapping for Reducing Object Map Distortion

Kenta Gunji, Kazunori Ohno, Shotaro Kojima, Ranulfo Bezerra, Yoshito Okada, Masashi Konyo +1
IROS 2022poster

There is an increasing demand for robots that can be substituted for humans in various tasks. Mobile robots are being introduced in factories, stores, and public facilities for carrying goods and cleaning. In factories and stores, desks and shelves are arranged such that the work and movement of per…

Cited by 5Source ↗Scholar ↗
2022

Loading an Autonomous Large-Scale Dump Truck: Path Planning Based on Motion Data from Human-Operated Construction Vehicles

Tetsu Akegawa, Kazunori Ohno, Shotaro Kojima, Naoto Miyamoto, Taro Suzuki, Tomohiro Komatsu +4
IROS 2022poster

A large-scale dump truck that automatically transports earth and sand in cooperation with a human-operated backhoe is of interest to the construction industry. A human-operated dump truck generally drives slightly past the desired loading position and then backs up to it for loading the sediment. Th…

Cited by 2Source ↗Scholar ↗
2021

HueCode: A Meta-marker Exposing Relative Pose and Additional Information in Different Colored Layers

Yoshito Okada, Daiki Fujikura, Yu Ozawa, Kenjiro Tadakuma, Kazunori Ohno, Satoshi Tadokoro
ICRA 2021poster

In this paper, HueCode, a meta-marker that robustly and simultaneously exposes the relative pose between a marker and a camera along with additional information, is proposed. It occupies the area of a single marker by overlaying multiple types of markers in different colored layers. Using perspectiv…

Cited by 12Source ↗Scholar ↗
2021

Semantic Mapping of Construction Site From Multiple Daily Airborne LiDAR Data

Thomas Westfechtel, Kazunori Ohno, Tetsu Akegawa, Kento Yamada, Ranulfo Plutarco Bezerra Neto, Shotaro Kojima +9
RA-L 2021

Semantic maps are an important tool to provide robots with high-level knowledge about the environment, enabling them to better react to and interact with their surroundings. However, as a single measurement of the environment is solely a snapshot of a specific time, it does not necessarily reflect t

Cited by 9Source ↗Scholar ↗
2020

Prediction of Backhoe Loading Motion via the Beta-Process Hidden Markov Model

Kento Yamada, Kazunori Ohno, Ryunosuke Hamada, Thomas Westfechtel, Ranulfo Plutarco Bezerra Neto, Naoto Miyamoto +7
IROS 2020poster

Backhoe loads sediment onto the bed of dump trucks during earthmoving work. The prediction of backhoe loading time is essential for ensuring safe cooperation between the backhoe and dump trucks. However, it is difficult to predict the instant at which the backhoe is ready to load sediment, because o…

Cited by 9Source ↗Scholar ↗
2020

Real-time Simulation of Non-Deformable Continuous Tracks with Explicit Consideration of Friction and Grouser Geometry

Yoshito Okada, Shotaro Kojima, Kazunori Ohno, Satoshi Tadokoro
ICRA 2020poster

In this study, we developed a real-time simulation method for non-deformable continuous tracks having grousers for rough terrain by explicitly considering the collision and friction between the tracks and the ground. In the proposed simulation method, an arbitrary trajectory of a track is represente…

Cited by 6Source ↗Scholar ↗
2020

Stable Autonomous Spiral Stair Climbing of Tracked Vehicles Using Wall Reaction Force

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Thomas Westfechtel, Satoshi Tadokoro
RA-L 2020

In this letter, an autonomous spiral stair climbing method for tracked vehicles using the reaction force from side walls has been proposed. Spiral stairs are one of the most difficult terrains for tracked vehicles because of their asymmetrical ground shape and small turning radius. Tracked vehicles

Cited by 4Source ↗Scholar ↗
2020

Toward Enabling a Hundred Drones to Land in a Minute

Daiki Fujikura, Kenjiro Tadakuma, Masahiro Watanabe, Yoshito Okada, Kazunori Ohno, Satoshi Tadokoro
IROS 2020poster

Currently, drone research and development has received significant attention worldwide. Particularly, delivery services employ drones as it is a viable method to improve delivery efficiency by using a several unmanned drones. Research has been conducted to realize complete automation of drone contro…

Cited by 4Source ↗Scholar ↗
2020

Wall Deadlock Evasion Control Based on Rotation Radius Adjustment

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Thomas Westfechtel, Satoshi Tadokoro
RA-L 2020

This letter describes a wall deadlock evasion method for tracked vehicles. Wall deadlock is a phenomenon where the robot cannot rotate to the commanded direction when it collides with a wall, because the motion is restricted by the wall. The key idea behind solving this problem involves an adjustmen

Cited by 0Source ↗Scholar ↗
2019

Development and Experimental Validation of Aerial Vehicle With Passive Rotating Shell on Each Rotor

Carl John Salaan, Kenjiro Tadakuma, Yoshito Okada, Yusuke Sakai, Kazunori Ohno, Satoshi Tadokoro
RA-L 2019

Aerial robotics is a fast-growing field of robotics and has been successfully used in various applications. Still, it faces many challenges, such as dealing with unavoidable obstacles in a cluttered environment. Recently, a flying robot with a protective shell that can rotate passively was introduce

Cited by 40Source ↗Scholar ↗
2018

Parking Spot Estimation and Mapping Method for Mobile Robots

Thomas Westfechtel, Kazunori Ohno, Naoki Mizuno, Ryunosuke Hamada, Shotaro Kojima, Satoshi Tadokoro
RA-L 2018

Self-driving vehicles rely on detailed semantic maps of the environment for operating. In this letter, we propose a method to autonomously generate such a semantic map enriched with knowledge of parking spot locations. Our method detects and uses parked vehicles in the surroundings to estimate parki

Cited by 3Source ↗Scholar ↗
2017

UAV with two passive rotating hemispherical shells for physical interaction and power tethering in a complex environment

Carl John Salaan, Kenjiro Tadakuma, Yoshito Okada, Eri Takane, Kazunori Ohno, Satoshi Tadokoro
ICRA 2017poster

For the past few years, unmanned aerial vehicles (UAVs) have been successfully employed in several investigations and exploration tasks such as aerial inspection and manipulations. However, most of these UAVs are limited to open spaces distant from any obstacles because of the high risk of falling a…

Cited by 32Source ↗Scholar ↗
2016

3D graph based stairway detection and localization for mobile robots

Thomas Westfechtel, Kazunori Ohno, Bärbel Mertsching, Daniel Nickchen, Shotaro Kojima, Satoshi Tadokoro
IROS 2016poster

Perception is the main key in enabling robots to react to and interact with their environment. Particularly, for multi-floor operations, the robot must robustly detect and localize stairs to allow for safe climbing. In this paper, we develop a graph-based stairway detection method for point cloud da…

Cited by 35Source ↗Scholar ↗
2016

Improvement of UAV's flight performance by reducing the drag force of spherical shell

Carl John Salaan, Yoshito Okada, Koichi Hozumi, Kazunori Ohno, Satoshi Tadokoro
IROS 2016poster

In recent years, several researchers focused their work on the mechanisms to protect the UAV from the dangerous collision with obstacles particularly the application of a spherical shell. However, this mechanism has some drawbacks when used in real-world mission especially in an outdoor environment.…

Cited by 19Source ↗Scholar ↗
2016

Motion control of tracked vehicle based on contact force model

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Thomas Westfechtel, Yoshito Okada, Satoshi Tadokoro
IROS 2016poster

In large industrial plants, the inspection of production lines is a heavy and costly task that puts human inspectors at high risk. In order to overcome these challenges, we have developed an autonomous plant inspection system using a mobile tracked vehicle. In this paper, we propose an autonomous na…

Cited by 12Source ↗Scholar ↗
2016

Real-time restoration of aerial inspection images by recognizing and removing passive rotating shell of a UAV

Yoshito Okada, Takuma Ishii, Kazunori Ohno, Satoshi Tadokoro
IROS 2016poster

This paper presents a real-time image restoration method for aerial inspection images that are degraded by the appearance of a passive rotating shell of an unmanned aerial vehicle (UAV). Only images are required as the input. The method mainly consists of feature-based object detection for joints of…

Cited by 7Source ↗Scholar ↗
2015

Proposal and experimental validation of a design strategy for a UAV with a passive rotating spherical shell

Shoma Mizutani, Yoshito Okada, Carl John Salaan, Takuma Ishii, Kazunori Ohno, Satoshi Tadokoro
IROS 2015poster

Unmanned aerial vehicles (UAVs) such as multicopters are expected to be used for inspection of aged infrastructure or for searching damaged buildings in the event of a disaster. However, in a confined space in such environments, UAVs suffer a high risk of falling as a result of contact with an obsta…

Cited by 68Source ↗Scholar ↗