Shin’ichi Yuta

Learn 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)
This article presents a real-time vision-based obstacle detection and avoidance method in an indoor environment for an autonomous mobile robot. In this study, we propose a scenario in which 3-Dimensional obstacles mainly building our real world environment, are detected by scanning a vertically emitted laser slit paired with an active stereo vision system.(More)
This paper describes a system which uses a mobile manipulator as a teleoperated tool for accessing and manipulating remote objects. This system attempts to answer the challenge of extending mobile robot potentials and usage in human daily life. The specific task we set up in this research is to help people buy fresh food in a supermarket from a remote(More)
This paper presents an image processing method for an autonomous mobile robot indoor navigation system using fluorescent lights. The self-localization of the vehicle is done by detecting the position and orientation of fluorescent tubes located above it’s desired path thanks to a camera pointing to the ceiling. A map of the lights based on odometry data is(More)
A mobile robot can use the walls or the pillars to localize itself when it navigates in indoor environment. However, in open space or outdoor environment there are few easy detectable and stable objects that the robot can use. In this paper, we propose a method for the detection of braille blocks, which are originally used for visually handicapped people,(More)
In this research, we are developing a system for browsing books from remote places through the Internet by means of the teleoperation of a mobile robot. In the process of developing this system, we firstly designed and built a prototype of a mobile robot, specially equipped for the accomplishment of browsing determined books, which is mainly categorized by(More)
This paper describes the total system design and implementation of an outdoor mobile robot with an autonomous road-crossing function intended for urban environments. The developed robot is capable of navigating along sidewalks while simultaneously detecting pedestrian push-button boxes. If a button box is detected, the robot can autonomously traverse up to(More)
This paper describes a multi-robot system purposed to guide a group of people that encompasses a strategy to conduct and crowd persons by a team of three mobile robots. It includes: a methodology to localise (track) the members of the group; a suitable multi-robot system architecture design; and a motion planner that synchronises and controls (guides) the(More)
  • 1