Kei Nakatsuma

2 accepted papers

2022

Fast Scan Context Matching for Omnidirectional 3D Scan

Hikaru Kihara, Makoto Kumon, Kei Nakatsuma, Tomonari Furukawa

IROS 2022poster

Autonomous robots need to recognize the environment by identifying the scene. Scan context is one of global descriptors, and it encodes the three-dimensional scan data of the scene for the identification in a matrix form. Scan context is in a matrix form that is simple to store, but the matching of…

Cited by 3 Source ↗Scholar ↗

2022

Object Surface Recognition using Microphone Array by Acoustic Standing Wave

Tomoya Manabe, Rikuto Fukunaga, Kei Nakatsuma, Makoto Kumon

IROS 2022poster

This paper proposes a microphone array with a speaker to recognize the shape of the surface of the target object by using the standing wave between the transmitted and the reflected acoustic signals. Because the profile of the distance spectrum encodes both the distance to the target and the distanc…

Cited by 0 Source ↗Scholar ↗