Takumi Hashizume

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This paper describes a precision positioning technique that can be applied to vehicles in urban areas. The proposed technique mitigates Global Positioning System (GPS) multipath by means of an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites [a satellite detected by the receiver but without line of sight (LOS)] by(More)
This paper describes an autonomous mobile surveillance system usually used in a factory premises with some high-rise buildings. This system consists of a wireless LAN network, a base station and an autonomous vehicle. The vehicle is equipped with a GPS/INS navigation system using the network-based Real-Time Kinematic GPS (RTK-GPS) with Positioning(More)
This paper describes outdoor localization for a mobile robot using a laser scanner and a three-dimensional (3D) voxel map that is based on outdoor point clouds. A mobile mapping system (MMS) measures outdoor 3D point clouds easily and precisely. The complete 6D state of a mobile robot is estimated by combining dead reckoning and the 3D voxel map. The 2D(More)
This study discusses a unique disaster-information collection technique that involves the collaboration of a rescue system and a GIS. The proposed technique can be applied to any rescue system by saving the information collected by the robot as text files. The rescue systems can realize a simple and flexible database across networks by "MISP." Disaster(More)
The target of this research is to develop a common-use sensor which is useful for navigation and mission for rescue operation. By combined use of an ODV (omnidirectional vision) with a hemispherical forward-visual-field using a direct and reflection hybrid optical system, a RTK-GPS (real time kinematics-global positioning system) and a MEMS (micro electro(More)
The unique omni-directional motion stereo method featuring robust epipolar estimation and hybrid use of the feature/area based matching, and the change-region recognition technique which uses dense color-textured depth map and 3D-GIS data for segmentation, are presented. The dense stereo imaging data, which is acquired by the coupled use of an ODV(More)