Hirohiko Kawata

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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)
PURPOSE To clarify differences in the dynamics of convergence eye movements in response to symmetrical stimuli between the dominant eye and the nondominant eye under natural viewing conditions. METHODS This study was conducted in 11 normal volunteers (age range, 22-30 years). The subject was seated on a chair, and the head was fixed using a bite-block.(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)
Time is crucial in applications such as sensor data fusion, autonomous mobility and SLAM. However clocks at end systems are rarely synchronized and often running at different speeds. Lack of synchronization therefore reduces the accuracy of sensor readings. The SOKUIKI scanning laser range finder allows acquiring time values by timestamping range readings.(More)
We have developed scanning laser range sensor called "SOKUIKI" sensor which is ultra-small scanning laser range sensor adopted for various types of mobile robots as we have already published. As a sensor for environment recognition, we thought the sensor must have not only outputting distance data but also another helpful function for mobile robots. So it(More)
Recently, SOKUIKI sensor is used in various fields including robotics. SOKUIKI sensor ldquoURG-04LXrdquo can take distances by measurement. And by using special mode of the firmware, Received Light Intensity and AGC Voltage Level can be obtained. This paper describes a method to estimate Gray Level of scanned objects by using Received Light Intensity. The(More)
In this paper, we propose a novel human detecting system using several stationary and moving laser range finders(LRF). The occluded area where the stationary sensors cannot measure will be covered by the actively moving sensor. The occlusion is perceived by overlaying visible area of the stationary sensors. The moving sensor will move to the target position(More)
In this paper, we describe our positioning system based ultra-compact Laser Range Finder (LRF) for mobile robot. The system consists of reflectors as landmark and a laser range finder (LRF) named “Pos-URG”. The landmarks are randomly and sparsely placed in environment, and their position and posture are known. Pos-URG has map data which(More)
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