| Project/Area Number |
02650295
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
計測・制御工学
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| Research Institution | University of Tokyo |
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Principal Investigator |
YAMASAKI Hiro University of Tokyo, Faculty of Engineering, Professor, 工学部, 教授 (30092365)
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| Co-Investigator(Kenkyū-buntansha) |
YAMAGUCHI Teruo University of Tokyo, Faculty of Engineering, Assistant Prof., 工学部, 助手 (50230363)
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| Project Period (FY) |
1990 – 1991
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| Project Status |
Completed (Fiscal Year 1991)
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| Budget Amount *help |
¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1991: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 1990: ¥1,100,000 (Direct Cost: ¥1,100,000)
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| Keywords | Smart Sensor / Intelligent Sensor / Sensor Fusion / Visual Information Processing / Active Vision / Eye Movement / Angular Velocity / Vestibular Sensor |
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| Research Abstract |
1. A new method for estimating the magnitude of the angular velocity of self-motion by measuring the average pressure on both inside and outside walls of a fluid-filled circular canaj was proposed. Our theory assuming the hydrostatic condition was discussed and proved by numerical simulations and experimental results.
2. It is desirable for intelligent image sensing system to be able to control its gaze direction with regard to the motion of the target object. To realize the gaze control, we formulated a control criterion similar to that of human eye movements : saccade and smooth pursuit. Experimental results showed the effectiveness of our gaze control method. In these experiments, our system showed an important property of smart sensing system, i. e. the ability to dynamically select the optimum operating mode for the purpose of measuring.
3. We proposed and demonstrated a newly extended real-time and flexible intelligent visual sensing system which was able to integrate visual sensory information with angular velocity information, and control camera gaze direction by both electronic and mechanical means simultaneously. The angular velocity sensor was composed of three vibratory gyroscopes ahad was able to detect three components of angular velocity. Experimental results showed that the system performs good fixation and moving object detection under gyro stabilized condition. It is desirable that the future intelligent visual sensing system mounted on locomotive machines can not only compensate the turbulence due to their movement, but also utilize the turbulence actively as the necessary information to recognize the outer world. As the results, such advanced signal processing will become more important technique.
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