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Visuo-Haptic Sensor Fusion System with Active Sensing

Research Project

Project/Area Number 04452207
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 計測・制御工学
Research InstitutionUniversity of Tokyo

Principal Investigator

ISHIKAWA Masatoshi  Faculty of Engineering, University of Tokyo Assoc Professor, 工学部, 助教授 (40212857)

Co-Investigator(Kenkyū-buntansha) KIYASA Senya  Faculty of Engineering, University of Tokyo Research Associate, 工学部, 助手 (20234388)
ITO Tadashi  Faculty of Engineering, University of Tokyo Research Associate, 工学部, 助手 (20223159)
FUJIMURA Sadao  Faculty of Engineering, University of Tokyo Professor, 工学部, 教授 (30010961)
Project Period (FY) 1992 – 1993
Project Status Completed (Fiscal Year 1993)
Budget Amount *help
¥4,100,000 (Direct Cost: ¥4,100,000)
Fiscal Year 1993: ¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1992: ¥2,300,000 (Direct Cost: ¥2,300,000)
KeywordsSensor Fusion / Visuo-Hoptic Fusion / Parallel Processing / Robot Sensor / Sensing System / Transputer / Sensor Information Processing / Active Sensing
Research Abstract

A human hand is a good sensing system in which a function as a sensor and a function as an actuator are fused well. In human eyes a function as an actuator for moving eyes affects a function as a sensor deeply. Such active motion for obtaining information has an important role to realize fusion between different senses. Active sensing is such active motion for obtaining information in engineering.
On the other hand, visual information and haptic information provide information with different property for object recognition. To do processing considering mutual relation between them, we can realize a flexible and reliable recognition and actions as a sensor information processing system with visuo-haptic information processing or visuo-motor information processing.
In this research we make a testbed system for sensor fusion to realize such visuo-haptic-motor fused system in engineerign, and cleared its information processing function theoretically and experimentally. In fact we design a whole sensing system with vision sensor and haptic sensor, and we did an object recognition experiment based on making the elements and their fundamental experiments. As a result it is cleared that active sensing is important in sensor fusion system. Based on such basic experiments we developed new recognition algorithms for sensor fusion and systemized theory for sensor fusion by evaluating a whole system.

Report

(3 results)
  • 1993 Annual Research Report   Final Research Report Summary
  • 1992 Annual Research Report
  • Research Products

    (18 results)

All Other

All Publications (18 results)

  • [Publications] 石川 正俊: "センサ情報の群知能処理" 計測と制御. 31. 1125-1130 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 石川 正俊: "センサフュージョン" 電気学会雑誌. 113. 101-108 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Masatoshi Ishikawa: "Active Sensor System Using Parallel Processing Circuits" J.Robotics and Mechatronics. 5. 31-37 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 石川 正俊: "アクティブセンシングとロボットハンド" 日本ロボット学会誌. 11. 938-942 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] 石川 正俊: "センサフュージョン" コロナ社, 284 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Masatoshi Ishikawa: "The Sensor Fusion System : Mechanisms for Integration of Sensory Information" Advanced Robotics. Vol.6, No.3. 335-344 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Masatoshi Ishikawa: "Patrallel Distributed Intelligent Processing of Sensory Information" J.SICE. Vol.31, No.11. 1125-1130 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Masatoshi Ishikawa: "Active Sensor System Using Parallel Processing Circuits" J.Robotics and Mechatronics. Vol.5, No.1. 31-37 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Masatoshi Ishikawa: "Active Sensing and Robot Hand" J.RSJ,Vol.11. No.7. 938-942 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Masatoshi Ishikawa: "Sensor Fusion" J,IEE. Vol.113, No.2. 131-138 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] H.Yamasaki and M.Ishikawa eds :: Sensor Fusion-Active Perception and Intelligent Reconfiguration of Real World-. Colona-sha, (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1993 Final Research Report Summary
  • [Publications] Masatoshi Ishikawa: "Active Sensor System Using Processing Circuits" J.Robotics and Mechatronics. 5. 31-37 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 石川正俊: "アクティブセンシングとロボットハンド" 日本ロボット学会誌. 11. 938-942 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 高橋昭彦,石川正俊: "センサフュージョン技術の現状と課題" 機械の研究. 45. 1219-1227 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 石川 正俊: "超高速・超並列ビジョンシステム" 光学. 21. 678-679 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 石川 正俊: "センサ情報の群知能処理" 計測と制御. 31. 1125-1130 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 石川 正俊: "センサフュージョン" 電気学会雑誌. 113. 101-108 (1993)

    • Related Report
      1992 Annual Research Report
  • [Publications] 石川 正俊: "センサフュージョン" コロナ社, 284 (1992)

    • Related Report
      1992 Annual Research Report

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Published: 1992-04-01   Modified: 2016-04-21  

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