Akihisa Ohya

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We have developed a 2D laser range sensor suitable for mobile robot platforms. The sensor features compactness, lightweight, high precision and low power consumption, and provides the wide scan angle with high resolution, which is very important for environment recognition by mobile robots. The basic technology for measuring the distance between the sensor(More)
This paper describes a system which uses a mobile manipulator as a teleoperated tool for accessing and manipulating remote objects, in our challenge to extend mobile robot potentials and usage in human daily life. The specific task we set up in this research is to help humans browse books located in a library from a remote location via the Internet. This(More)
This work presents our method for people detection on the surroundings of a mobile robot by using two layers of multiple LRFs, allowing to simultaneously detect two set of different features for every person: chest and legs areas. A person model is created according to the association of these features and a volume representation allows to estimate the(More)
Recently, tracking and counting people are requested for the security purpose. In this paper, we propose a method to track and count people with laser range finders. A method to extract the walking human from the sensor data is introduced. Multi-target model and Kalman filter based estimation are employed to track the human movement and count the number of(More)
The goal of this research is to develop a real time obstacle avoidance system for autonomous mobile robots using a stereo vision sensor. At first, an obstacle detection method is proposed. It is based on stereo measurement without any search of the corresponding points to match them. This method is fast enough for a mobile robot which has poor capabilities(More)
We propose a method to recognize cups on desks and to detect liquids in cups with a depth camera using triangulation. When we measure an opaque liquid in a cup with the depth camera, the liquid surface is measured. On the other hand, when we measure a transparent liquid, the raised bottom is measured due to the principle of light refraction and(More)
We constructed an ultra-broadband ultrasonic transducer in a mechanical sector device, and prototyped a system to generate real-time images with higher harmonics. The potential of the system to reduce speckle was also studied. To efficiently detect the higher harmonic components in echo signals, in addition to the transmitting transducer, another transducer(More)