研究者詳細 - 丹上　結乃純

論文 - 丹上　結乃純

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Development of an Outdoor Autonomous Travel Robot Using Graph-based Segmentation and Deep Learning 査読有り国際誌

Kako Koyama, Yui Tanjo

Proceedings of the 14th International Conference on Electronics, Communications and Networks (CECNet 2024) ( Frontiers in Artificial Intelligence and Applications ) 193 - 198 2024年11月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Matsue 2024年11月05日 - 2024年11月08日

This paper presents a novel approach to autonomous robot navigation using an RGB-D camera technology for complex urban environments. The paper proposes a comprehensive system integrating checkpoint-based path planning, image-based self-localization, and a hybrid method for drivable area estimation. The drivable area estimation technique combines Graph-based Segmentation (GBS), deep learning-based road detection and texture feature analysis. Using 315 diverse urban images, the system’s performance was evaluated by comparing the results of three methods: (i) GBS with texture features, (ii) deep learning alone, and (iii) the proposed hybrid approach. While deep learning achieved the highest overall performance (IoU: 0.832, Accuracy: 0.875), the hybrid approach showed competitive results (IoU: 0.823, Accuracy: 0.870). Importantly, qualitative analysis revealed that the proposed hybrid approach outperformed deep learning in challenging scenarios such as roads adjacent to vehicular traffic and narrow pathways. These findings demonstrate the potential of the proposed approach for robust autonomous navigation in complex urban environments, advancing applications in service robotics.
Keywords: Robot vision, Region segmentation, GBS, Autonomous travel, Deep learnin

Development of a Navigation System Using MY VISION for Visually Impaired People －A Method to Guide the Direction of Travel 査読有り国際誌

Yuki Koike, Yui Tanjo

Proceedings of IEEE International Conference on Systems, Man, and Cybernetics ( IEEE ) 3275 - 3280 2024年10月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Malaysia Sarawak 2024年10月06日 - 2024年10月10日

The number of visually impaired people in Japan as of 2016 was 312,000, and 70.4% of them have experienced accidents such as falls or collisions while going out. In addition, while a white walking cane is commonly used to move around when going out, there is a problem of not being able to recognize a wide range of areas. Many studies have been conducted to support the movement of visually impaired people using camera images, and many methods have been proposed to support walking on sidewalks and crossing intersections. However, when considering walking on a sidewalk, there are cases where the sidewalk is broken by a side street intersecting the roadway, and few studies have focused on such a break in the sidewalk. In many cases, there are no traffic signals or pedestrian crossings at such breaks in the sidewalk, making them dangerous places for people with vision difficulties. In this study, we propose a walking assistance method at a break in the sidewalk using images obtained by MY VISION (a Magic eYe of a Visually Impaired for Safety and Independent actiON) and deep learning. MY VISION is a system that analyzes videos obtained from a camera attached to the user's body and provides useful visual information, functioning as a virtual eye for visually impaired people. The proposed method provides a model for recognizing the sidewalk environment and a model for guiding a user to the center of the sidewalk in order to guide the visually impaired people safely. Experiments were conducted to verify the accuracy of each model, and the effectiveness of the proposed method was shown.
Keywords— MY VISION, Visually Impaired People, Object Detection, Direction, Multi-Class Classification, EfficientNet-B4

High-Accuracy human motion recognition independent of motion direction using a single camera 査読有り国際誌

Jing Cao, Yui Tanjo

International Journal of Innovative Computing, Information and Control ( ICIC International ) 20 ( 4 ) 1093 - 1103 2024年08月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

With the rapid development of computer vision research, the technology has received extensive attention and has been widely used. In today’s society, the technology of automatic recognition of human movements is particularly important in research related to the development of elderly care systems and crime prevention systems. However, most conventional researches on motion recognition assume that the motion is on the plane perpendicular to the optical axis of the camera. There are only a few studies dealing with the motion in the direction of a camera’s optical axis and the reported accuracy is only 83.7%. Therefore, to improve the accuracy while reducing processing time, this paper proposes a TMRIs (Triplet Motion Representation Images) that expresses human motion by extending the traditional method named MHI (Motion History Image), ExHOOF (Extended Histogram of Oriented Optical Flow) that includes features of motion direction and velocity information, and the change of features of the area and the center of gravity of the foreground object, to identify the movement toward the optical axis of a camera and hence improve the accuracy of action recognition. The performance and effectiveness of the proposed method are verified by experiments.

DOI： 10.24507/ijicic.20.04.1093

DOI： 10.24507/ijicic.20.04.1093

その他リンク： http://www.ijicic.net/

A METHOD OF RECOGNIZING HUMAN WALK MOTION FROM MULTIPLE DIRECTIONS 査読有り国際誌

Miki Ooba, Yui Tanjo

International Journal of Innovative Computing, Information and Control ( ICIC International ) 20 ( 4 ) 1245 - 1256 2024年08月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

It is an important issue for elderly people to maintain their walking ability
in order to prevent falls and lead a healthy daily life. It may be of great help to develop
a computer vision system which examines human daily walk posture and gives him/her
some advices on the posture. This paper proposes a method of recognizing walk motions of
a human focusing on his/her posture. In order to describe a human posture, we choose 39
structural features defined from human joint coordinates obtained using OpenPose and 19
figural features from human domain images and their different images. The feature vector
containing these 58 features is used for recognizing a human walk motion by Random
Forest. In the experiment, the method was applied to three walk motions of five persons
each with eight walk directions and satisfactory results were obtained.
Keywords: OpenPose, Image of human area, Human walk motion, Structural feature,
Figural feature

DOI： 10.24507/ijicic.20.04.1245

DOI： 10.24507/ijicic.20.04.1245

その他リンク： http://www.ijicic.net/

Analysis of Human Walking Posture Using a Wearable Camera 査読有り国際誌

Ziyue Liu, Joo Kooi Tan

International Journal of Innovative Computing, Information and Control ( ICIC International ) 19 ( 3 ) 805 - 819 2023年05月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In recent years, human posture has received widespread attention in the field of health promotion, and walking is one of the most popular exercises for keeping daily health. With respect to the walking posture of a person especially of the elderly, small changes in the posture have a great impact on their spine and lower limbs, resulting in changes in balance function. According to this fact, it is necessary to check human walking posture periodically. For this purpose, a simple, automatic way of examining a human walking posture is expected. This paper proposes a method of analyzing human walking motion: Two kinds of indicators about human walking posture are proposed which estimate posture changes of a camera worn by a person through changing scenery observed from the camera. In this method, AKAZE is applied to images to detect feature points and find their correspondences. A 5-point algorithm is used to estimate epipolar geometric constraints and provides an essential matrix for relative camera motion. Changes in the relative motion of the camera are used to analyze the changes of human walking posture. In the experiment, the characteristics of four types of walking postures (one is normal and the others are biased) were analyzed using the human posture indicators, and the reliability of the proposed method was verified.

DOI： 10.24507/ijicic.19.03.805

その他リンク： http://www.ijicic.net/

Detecting Approaching Human Hands in a Human-Robot Coexistent Food Preparation Work Area for Preventing Collision 査読有り国際誌

Joo Kooi Tan, Takaaki Yotsumoto

Journal of Robotics, Networking and Artificial Life 9 ( 3 ) 289 - 294 2022年12月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

In Japan, the population of working age between 15 and 64 years old peaked in 1995 at about 87 million and is expected to continue to decline in the future. Therefore, to solve the labor shortage, the introduction of industrial robots that can perform the same level of work as humans is strongly requested especially in the food preparation industry. In order to prevent danger to workers there, industrial robots must recognize workers and avoid them when there is fear of collision. In this paper, we propose a method for extracting hand regions based on the color distribution of a hand and GrabCut in an experimental environment to recognize human hands and detect their directions of approach. The proposed method was examined experimentally and gave satisfactory results.

A Method of Navigating a Visually Impaired Person Using MY VISION 査読有り国際誌

Joo Kooi Tan, Kohei Kitagawa

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd ) 9 ( 1 ) 25 - 30 2022年06月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

This paper describes a method of navigating a visually impaired person who walks on a sidewalk and goes through a pedestrian crossing by the use of an ego-camera system named MY VISION. The proposed method finds a walkable region on the sidewalk. Thus, at a pedestrian crossing, it finds a traffic light and judges an appropriate timing to cross the road by analyzing the color and flashing status of the signal. The walkable region is found employing Graph- Based Segmentation (GBS), and once a pedestrian crossing is reached through the use of a GPS signal, a traffic light is detected by use of the HOG feature and Random Forest. The effectiveness of the proposed method was verified by experiments. This implies usefulness of a MY VISION system.

A Method of Identifying a Public Bus Route Number Employing MY VISION 査読有り国際誌

Joo Kooi Tan, Yosiki Hamasaki, Ye Zhou, Ishitobi Kazuma

Journal of Robotics, Networking and Artificial Life ( ATLANTIS PRESS ) 8 ( 3 ) 224 - 228 2021年12月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In response to requests from visually impaired people for better assistance tools in their daily lives and due to the difficulty of using public transportation, it is proposed a bus boarding support system using MY VISION. For the support, a method of identifying a bus route number is proposed in this paper. A bus approaching a bus stop is detected from MY VISION images that utilizes the Lucas-Kanade tracker. A bus route number area is then acquired with the help of the Haar-like filters and the random forest. Finally, the number from the area is extracted and identified through pattern matching. The effectiveness of the proposed method was shown by experiments. The results indicate that it is possible to realize a practical boarding support system for the visually impaired.

DOI： 10.2991/jrnal.k.210922.014

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85120943766&origin=inward

Detection of a Fallen Person and its head and lower body from aerial images 査読有り国際誌

Joo Kooi Tan, Haruka Egawa

Journal of Robotics, Networking and Artificial Life ( ATLANTIS PRESS ) 8 ( 2 ) 134 - 138 2021年09月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

This paper proposes a method of detecting a person fallen on the ground and its head and lower body from aerial images. The study intends to automate discovering victims of disasters such as earthquakes from areal images taken by a UAV. Rotation-invariant HOG and rotation-invariant LBP are employed as features describing a fallen person so as to detect it regardless of its body orientation. The proposed method also detects the head and the lower body of a fallen person using the peak of the gradient histogram. Experimental results show satisfactory performance of the proposed method.

DOI： 10.2991/jrnal.k.210713.013

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85120707754&origin=inward

Estimation of Self-Posture of a Pedestrian Using MY VISION Based on Depth and Motion Network 査読有り国際誌

Joo Kooi Tan,Tomoyuki Kurosaki

Journal of Robotics, Networking and Artificial Life ( ATLANTIS PRESS ) 7 ( 3 ) 152 - 155 2020年12月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

A system is proposed that performs gait analysis of a pedestrian to improve a walk posture and at the same time to prevent fall. In the system, a user walks with a chest-mounted camera. His/her walking posture is estimated using a pair of images obtained from the camera. Normally it is difficult to estimate the camera movement, when the parallax of the image pair is small. Therefore, the system uses a convolutional neural network. Optical flow and camera movement, and depth images are estimated alternately. Satisfactory results were obtained experimentally.

Keywords: Posture, Posture analysis, Pedestrian, MY VISION, Depth and Motion Network.

DOI： 10.2991/jrnal.k.200909.002

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85097097973&origin=inward

Human-robot Cooperation Based on Visual Communication 査読有り国際誌

Joo Kooi Tan, Akitoshi Sato

International Journal of Innovative Computing, Information and Control ( ICIC International 学会 ) 16 ( 2 ) 543 - 554 2020年04月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

This paper proposes a human-robot cooperative system supported by visual communication. Human-robot cooperation is expected in various fields nowadays in order to raise efficiency, accuracy and safety of work, to name a few, production of goods, logistics, car driving, care of aged people, etc. In the human-robot cooperation, it is desirable that a human takes less part of work; whereas a robot takes a larger role with it. The idea of the present paper is that visual decision making is done by a human rather than a robot. The proposed system goes to a specified remote spot autonomously and performs objects acquisition there by communicating visually with a user. It aims at realizing ‘a shopping robot’ in near future and expected to be used by disadvantaged shoppers. The proposed system is presented and some experimental results are shown.

DOI： 10.24507/ijicic.16.02.543

その他リンク： https://www.scopus.com/record/display.uri?eid=2-s2.0-85082019101&origin=resultslist&sort=plf-f

A Method of Describing a Self-occlusive Motion - A Reverse Motion History Image 査読有り

Joo Kooi Tan, Sayaka Okae, Youtaro Yamashita, Yuta Ono

International Journal of Biomedical Soft Computing and Human Sciences 24 ( 1 ) 1 - 7 2019年07月

Walk Environment Analysis Using MY VISION: Toward a Navigation System Providing Visual Assistance 査読有り国際誌

Joo Kooi Tan, Tomoki Ishimine and Shohei Arimasu

International Journal of Innovative Computing, Information and Control 15 ( 3 ) 861 - 871 2019年06月

Human motion recognition using TMRIs with extended HOOF 査読有り国際誌

Jing Cao, Youtaro Yamashita, Joo Kooi Tan

Journal of Robotics, Networking and Artificial Life ( ATLANTIS PRESS ) 7 ( 4 ) 231 - 235 2021年03月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In recent years, research on computer vision has shown great advancement and has been applied to a wide range of fields. Among them, automatic recognition of human motion is an important technology especially in crime prevention and elderly watching systems. Considering this trend, the paper proposes a novel method of human motion description and recognition employing a MHI (Motion History Image)-based method called TMRIs (Triplet Motion Representation Images) and an extended feature descriptor called HOOF (Histograms of Oriented Optical Flow) which contains information on the direction and velocity of movement. One of the advantages of the proposed method over existent methods is that it solves a self-occlusive motion problem particularly in the depth direction which occurs when a single camera is used. The performance and effectiveness of the proposed method are verified by experiments.

Keywords: Human motion; Description; Recognition; Elderly care; crime prevention; MHI; Triplet Motion Representation Images; HOOF.

DOI： 10.2991/jrnal.k.201215.004

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85103065635&origin=inward

Detecting Pedestrians and Their Walk Directions Using a MY VISION System 査読有り国際誌

Joo Kooi Tan, Hori Kenta, Seiji Ishikawa

Journal of Robotics, Networking and Artificial Life ( ATLANTIS PRESS ) 7 ( 2 ) 137 - 141 2020年09月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

This paper proposes a pedestrian detection method using a MY VISION system. The MY VISION system is an image processing system employing an ego-camera which a user of the system possesses, and it is expected to be the third eye of those who are aged, visually impaired or even those who are absorbed in a mobile-phone while walking. In the proposed method, a flow area different from camera movement is extracted first on the image provided from a user’s head-mounted camera. The area is a candidate area where pedestrians may exist. MSC-HOG features are then calculated to detect pedestrians in the area. HOF feature is further computed to recognize the moving direction of the detected pedestrians. The proposed method was examined its performance experimentally and satisfactory results were obtained.

Keywords: MY VISION, Ego-cameras, Optical flow, MSC-HOG, HOF, Pedestrian detection, Walk direction.

DOI： 10.2991/jrnal.k.200528.014

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85097079744&origin=inward

Development of an Autonomous Mobile Robot Doing Self-Position Estimation and Road Region Search 査読有り国際誌

Naokazu Iwata, JooKooi Tan

Journal of Advances in Artificial Life Robotics 1 ( 2 ) 99 - 103 2020年08月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

This paper proposes an autonomous mobile robot expected to realize an intelligent robot that supports a human life.The proposed mobile robot has three main functions; self-position estimation, road region estimation, and route planning. Self-position estimation is performed by comparing local features obtained from the frontal images captured
by the robot to a knowledge base. In road region estimation, the frontal image is separated into several regions to find　the region where the robot can move. Furthermore, the route to the destination is planned by graph search.
Experimental results show satisfactory performance of the proposed mobile robot.

A Support System for a Visually Impaired Person Finding Bus Route Numbers Employing MY VISION 査読有り国際誌

Daichi Nanaura, Seiji Ishikawa, Yui Tanjo

The 2025 International Conference on Artificial Life and Robotics ( Robot Artificial Life Society ) 927 - 930 2025年02月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Oita 2025年02月13日 - 2025年02月16日

A bus is not a very convenient means for a visually impaired person because of the difficulty in identifying its route number, although it is an economical tool for travel. This paper proposes a method of detecting and identifying a bus route number using the MYVISION system which employs an ego camera worn by a visually impaired person. The method finds a frontal area of a bus approaching a bus stop using the video which the camera provides by using optical flow and random forest employing Haar-like features. It then extracts the upper destination panel area followed by the detection of a route number at the right-hand side of the panel. Finally, the detected route number is identified by template matching. In the experiment, various kinds of videos containing the buses of a bus company were captured at different places and different weather conditions, and the effectiveness of the proposed method was shown. The method is now planned to be applied to the busses of various bus companies.

Human Pose Estimatin From Egocentric Videos 査読有り国際誌

Shuny Egashira, Yui Tanjo

The 2025 International Conference on Artificial Life and Robotics ( Robot Artificial Life Society ) 931 - 934 2025年02月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Oita 2025年02月13日 - 2025年02月16日

According to a survey conducted by the Ministry of Health, Labour and Welfare in 2019, about 30% of patients suffer from back pain and stiff shoulders. Although researches on pose estimation have been conducted for a long time, they cannot be used for daily pose estimation, because they need fixed cameras to capture target/subject motions. To solve this problem, the present paper proposes a novel pose estimation method from egocentric videos using Epipolar Geometry. It computes three rotational angles, i.e., pitch, yaw and roll, from the egocentric motion videos to evaluate differences from his/her normal motion. In the experiment, three egocentric videos were used to verify the performance and effectiveness of the proposed method and reasonable/satisfactory results were obtained.

A Support System for a Visually Impaired Person Finding Bus Route Numbers Employing MY VISION 査読有り

Nanaura D., Ishikawa S., Tanjo Y.

Proceedings of International Conference on Artificial Life and Robotics 927 - 930 2025年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

A bus is not a very convenient means for a visually impaired person because of the difficulty in identifying its route number, although it is an economical tool for travel. This paper proposes a method of detecting and identifying a bus route number using the MYVISION system which employs an ego camera worn by a visually impaired person. The method finds a frontal area of a bus approaching a bus stop using the video which the camera provides by using optical flow and random forest employing Haar-like features. It then extracts the upper destination panel area followed by the detection of a route number at the right-hand side of the panel. Finally, the detected route number is identified by template matching. In the experiment, various kinds of videos containing the buses of a bus company were captured at different places and different weather conditions, and the effectiveness of the proposed method was shown. The method is now planned to be applied to the busses of various bus companies.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219504922&origin=inward

Human Motion Recognition from Multiple Directions and Its Gait Cycles Analysis 査読有り国際誌

Miki Ooba, Yui Tanjo

The 2024 International Conference on Artificial Life and Robotics ( Robot Artificial Life Society ) 959 - 963 2024年02月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Oita 2024年02月22日 - 2024年02月25日

It is crucial for individuals to keep walking and stay healthy to prevent receiving nursing care. This paper proposes a method of recognizing walk motions and analyzing the gait cycle of a human focusing on his/her posture. We use 43 structural features defined from human joint coordinates obtained using OpenPose and 18 figural features from human domain images and their difference images. The feature vector containing these 61 features is used for the recognition of walk motion by Random Forest. In the experiment, we applied the method to recognizing six types of motions and analyzed the walk gait cycles of five persons, and obtained satisfactory results.

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