17 accepted papers
Navigation of mobile robots in dynamic environments with pedestrian traffic poses a significant challenge in the development of autonomous mobile service robots. Recently, deep reinforcement learning-based methods have been actively studied and have outperformed traditional rule-based approaches, ow…
LiDAR-based semantic segmentation is a key component for autonomous mobile robots, yet large-scale annotation of LiDAR point clouds is prohibitively expensive and time-consuming. Although simulators can provide labeled synthetic data, models trained on synthetic data often underperform on real-world…
Building LiDAR generative models holds promise as powerful data priors for restoration, scene manipulation, and scalable simulation in autonomous mobile robots. In recent years, approaches using diffusion models have emerged, significantly improving training stability and generation quality. Despite
Mobile robot navigation in crowded environments with pedestrians is a crucial challenge in realizing service robots that can assist people in their daily lives. Navigation methods for mobile robots in environments employing deep reinforcement learning have been extensively studied. However, addressi…
In this paper, we introduce a framework for imitation learning in navigation that enables policy learning from one-shot images without a physical robot and facilitates the transfer of this policy from simulation to reality. Utilizing Neural Radiance Fields (NeRF), our approach generates a simulated…
Indoor robot localization is important for the realization of autonomous service robots. Various studies have been conducted on "indoor GPS" measurements using wireless distance sensors such as ultrasonic beacons. However, when these beacons encounter non-line-of-sight (NLoS) conditions due to obsta…
Generative modeling of 3D LiDAR data is an emerging task with promising applications for autonomous mobile robots, such as scalable simulation, scene manipulation, and sparse-to-dense completion of LiDAR point clouds. While existing approaches have demonstrated the feasibility of image-based LiDAR d…
3D laser scanning by LiDAR sensors plays an important role for mobile robots to understand their surroundings. Nevertheless, not all systems have high resolution and accuracy due to hardware limitations, weather conditions, and so on. Generative modeling of LiDAR data as scene priors is one of the p…
This study develops a training system for a multimodal comprehensive care methodology for dementia patients called Humanitude. Humanitude has attracted much attention as a gentle and effective care technique. It consists of four main techniques, namely, eye contact, verbal communication, touch, and…
Terrain classification is critically important for Mars rovers, which rely on it for planning and autonomous navigation. On-board terrain classification using visual information has limitations, and is sensitive to illumination conditions. Classification can be improved if one fuses visual imagery w
Detection of spatial change around a robot is indispensable in several robotic applications, such as search and rescue, security, and surveillance. The present paper proposes a fast spatial change detection technique for a mobile robot using an on-board RGB-D/stereo camera and a highly precise 3D ma…
This paper proposes new software and hardware platforms named ROS-TMS and Big Sensor Box, respectively, for an informationally structured environment. We started the development of a management system for an informationally structured environment named Town Management System (TMS) in the Robot Town…
Mutual subspace method (MSM), which is one of image-based approaches, showed strong discrimination capability in gait recognition. In general, 2D image matrices are transformed into 1D image vectors to be used as input into MSM, and then principal component analysis (PCA) is applied to 1D vectors to…
This paper presents a near-future perception system named “Previewed Reality”. The system consists of an informationally structured environment (ISE), an immersive VR display, a stereo camera, an optical tracking system, and a dynamic simulator. In an ISE, a number of sensors are embedded, and infor…
We present two multi-modal panoramic 3D outdoor (MPO) datasets for semantic place categorization with six categories: forest, coast, residential area, urban area and indoor/outdoor parking lot. The first dataset consists of 650 static panoramic scans of dense (9,000,000 points) 3D color and reflecta…
In recent years, several low-cost 3D laser scanners are being brought to the market and 3D laser scanning is becoming widely used in many fields. For example, 3D modeling of architectural structures or digital preservation of cultural heritages are typical applications for 3D laser scanning. Despite…
We propose an evaluation method of grasp stability which takes into account the elastic deformation of fingertips from the viewpoint of energy. An evaluation value of grasp stability is derived as the minimum energy which causes slippage of a fingertip on its contact surface. To formulate the evalua…