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Accurate Moving Object Tracking Using Optimal Multi-Dimensional Sensor Fusion

Research Project

Project/Area Number 16K16093
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Perceptual information processing
Research InstitutionToyama Prefectural University (2017-2019)
Ritsumeikan University (2016)

Principal Investigator

Saho Kenshi  富山県立大学, 工学部, 講師 (00732900)

Project Period (FY) 2016-04-01 – 2020-03-31
Project Status Completed (Fiscal Year 2019)
Budget Amount *help
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2019: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2018: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Keywords移動体追尾 / センサ融合 / ドップラーレーダ / カルマンフィルタ / 運動解析 / 追尾フィルタ / 動作解析 / 歩行計測 / 加速度観測 / H∞フィルタ / 最適設計 / 歩行者追跡 / 車両追跡 / 移動体追跡 / 加速度センサ / 超音波センサ
Outline of Final Research Achievements

This study developed, analyzed, and applied accurate moving object tracking methods for monitoring of robots and human motions. Tracking filters that uses multi-dimensional fusion of measurement data with radars, cameras, velocity and acceleration sensors as input data are propose and analyze. We have verified the optimal configuration of a tracking filter using multidimensional data of position, velocity and acceleration, and developed a multidimensional sensor data fusion technology. In addition, the developed tracking technology was applied to the detailed analysis of the motions of each part of human body, such as the torso and legs, in gait and sit-to-stand/stand-to-sit movements.

Academic Significance and Societal Importance of the Research Achievements

レーダによる高分解能計測、及びIoTに基づくセンサ間通信は、いずれも近年開発されつつある技術である。本研究はこれらの技術を、複数種・多次元のセンサ融合による超高精度移動体追尾へと発展させた点に学術的意義を有する。また本研究成果により、複雑な移動体計測システムの設計が劇的に簡易化したのみならず、追尾フィルタの一般理論の発展へ貢献することができた。さらに、レーダやカメラ等の主に自動車や監視への応用に主眼が置かれている各種センサの応用範囲を、高齢者の見守りシステムなどにも応用可能な人体の正確な追尾に基づく運動解析へと広げることができ、本技術分野の新応用開拓に貢献した。

Report

(5 results)
  • 2019 Annual Research Report   Final Research Report ( PDF )
  • 2018 Research-status Report
  • 2017 Research-status Report
  • 2016 Research-status Report
  • Research Products

    (46 results)

All 2020 2019 2018 2017 2016 Other

All Int'l Joint Research (2 results) Journal Article (14 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 14 results,  Open Access: 9 results,  Acknowledgement Compliant: 4 results) Presentation (28 results) (of which Int'l Joint Research: 11 results,  Invited: 4 results) Book (2 results)

  • [Int'l Joint Research] オレゴン大学(米国)

    • Related Report
      2017 Research-status Report
  • [Int'l Joint Research] オレゴン大学(米国)

    • Related Report
      2016 Research-status Report
  • [Journal Article] Person Identification Based on Micro-Doppler Signatures of Sit-to-Stand and Stand-to-Sit Movements Using a Convolutional Neural Network2020

    • Author(s)
      Kenshi Saho, Keisuke Inuzuka, and Keitaro Shioiri
    • Journal Title

      IEEE Sensors Letters

      Volume: 4 Issue: 3 Pages: 3500304-3500304

    • DOI

      10.1109/lsens.2020.2975219

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Evaluation of Higher-Level Instrumental Activities of Daily Living via Micro-Doppler Radar Sensing of Sit-to-Stand-to-Sit Movement2020

    • Author(s)
      Saho K, Uemura K, Fujimoto M, Matsumoto M
    • Journal Title

      IEEE Journal of Translational Engineering in Health and Medicine

      Volume: 8 Pages: 1-11

    • DOI

      10.1109/jtehm.2020.2964209

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Performance analysis of position tracking filter using only velocity measurement2020

    • Author(s)
      Takanori Shibata and Kenshi Saho
    • Journal Title

      Proceedings of 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2020)

      Volume: 2020 Pages: 7008-7008

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Detection and Classification of Human Motion in Blind Area Using Micro-Doppler Radar2019

    • Author(s)
      Sora Hayashi, Kenshi Saho, Hiroaki Okinaka, Lin Meng, and Masao Masugi
    • Journal Title

      Proceedings of International Conference on Advanced Mechatronic Systems (ICAMechS)

      Volume: 2019 Pages: 224-228

    • DOI

      10.1109/icamechs.2019.8861524

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Correct Stability Condition and Fundamental Performance Analysis of the α-β-γ-δ Filter2018

    • Author(s)
      Shibata Takanori、Saho Kenshi
    • Journal Title

      Applied Sciences

      Volume: 8 Issue: 12 Pages: 2523-2523

    • DOI

      10.3390/app8122523

    • Related Report
      2018 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Steady-State Performance Analysis of Tracking Filter Using LFM Waveforms and Range-Rate Measurement2018

    • Author(s)
      Saho Kenshi
    • Journal Title

      Mathematical Problems in Engineering

      Volume: 2018 Pages: 9487581-9487581

    • DOI

      10.1155/2018/9487581

    • Related Report
      2018 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Optimal Steady-State Range Prediction Filter for Tracking with LFM Waveforms2018

    • Author(s)
      Kenshi Saho
    • Journal Title

      Applied Sciences

      Volume: 8 Issue: 1 Pages: 17-17

    • DOI

      10.3390/app8010017

    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Association of Multiple Moving Targets using Extended Nearest-neighbor Method for Single Pulse Doppler Radar Interferometer2017

    • Author(s)
      佐保賢志, 馬杉正男
    • Journal Title

      IEEJ Transactions on Electronics, Information and Systems

      Volume: 137 Issue: 4 Pages: 676-677

    • DOI

      10.1541/ieejeiss.137.676

    • NAID

      130005530127

    • ISSN
      0385-4221, 1348-8155
    • Related Report
      2017 Research-status Report 2016 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Gait Classification of Young Adults, Elderly Non-Fallers and Elderly Fallers Using Micro-Doppler Radar Signals: A Simulation Study2017

    • Author(s)
      Kenshi Saho, Masahiro Fujimoto, Masao Masugi, and Li-Shan Chou
    • Journal Title

      IEEE Sensors Journal

      Volume: 17 Issue: 8 Pages: 2320-2321

    • DOI

      10.1109/jsen.2017.2678484

    • Related Report
      2017 Research-status Report 2016 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Performance Analysis of Fixed-gain Moving Object Tracking Filter based on Fusion of Range/Acceleration Sensors2017

    • Author(s)
      佐保 賢志, 高橋 悠祐, 馬杉 正男
    • Journal Title

      Transactions of the Institute of Systems, Control and Information Engineers

      Volume: 30 Issue: 4 Pages: 135-142

    • DOI

      10.5687/iscie.30.135

    • NAID

      130005773947

    • ISSN
      1342-5668, 2185-811X
    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Performance Analysis and Design Strategy for a Second-Order, Fixed-Gain, Position-Velocity-Measured (α-β-η-θ) Tracking Filter2017

    • Author(s)
      Kenshi Saho, Masao Masugi
    • Journal Title

      Applied Sciences

      Volume: 7 Issue: 8 Pages: 758-758

    • DOI

      10.3390/app7080758

    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Moving Object Tracker using Sensor Fusion of Ultrasonic Range Finder and Accelerometer2017

    • Author(s)
      Kenshi Saho, Yusuke Takahashi, and Masao Masugi
    • Journal Title

      Journal of International Council on Electrical Engineering

      Volume: 7 Issue: 1 Pages: 34-40

    • DOI

      10.1080/22348972.2016.1277447

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Three-dimensional Imaging Method Incorporating Range Points Migration and Doppler Velocity Estimation for UWB Millimeter-wave Radar2017

    • Author(s)
      Y. Sasaki, F. Shang, S. Kidera, T. Kirimoto, K. Saho and T. Sato
    • Journal Title

      IEEE Geosci. Remote Sens. Lett.

      Volume: 14 Issue: 1 Pages: 122-126

    • DOI

      10.1109/lgrs.2016.2628909

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] 距離/加速度センサの融合に基づく運動目標追尾用固定係数フィルタの特性解析2017

    • Author(s)
      佐保賢志, 高橋悠祐, 馬杉正男
    • Journal Title

      システム制御情報学会論文誌

      Volume: 30 Pages: 135-142

    • NAID

      130005773947

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Presentation] 起立・着座動作のドップラーレーダ画像を用いた個人識別2019

    • Author(s)
      犬塚圭亮, 塩入 慶太郎 , 佐保 賢志
    • Organizer
      電気学会情報システム研究会
    • Related Report
      2019 Annual Research Report
  • [Presentation] ドップラーレーダを用いた死角領域からの飛び出し予測のための実験的検討2019

    • Author(s)
      林 空良, 佐保 賢志, 馬杉正男
    • Organizer
      電子情報通信学会ITS研究会
    • Related Report
      2019 Annual Research Report
  • [Presentation] マルチエージェント制御に基づく複数耕作機械の経路設計と相対位置・相対速度の推定の検討2019

    • Author(s)
      盛田 修, 林 真美, 小島 千昭, 大倉 裕貴, 佐保 賢志
    • Organizer
      第29回インテリジェント・システム・シンポジウム(FAN2019)
    • Related Report
      2019 Annual Research Report
  • [Presentation] 等角速度ターンモデルを用いた追尾フィルタの理論誤差解析2019

    • Author(s)
      柴田 孝則, 佐保 賢志
    • Organizer
      第29回インテリジェント・システム・シンポジウム(FAN2019)
    • Related Report
      2019 Annual Research Report
  • [Presentation] 小型レーダーによる無拘束な運動速度計測 ~身体・認知機能評価への適用~2019

    • Author(s)
      佐保 賢志
    • Organizer
      2018 年度第 6 回ヒューマンロコモーション評価技術協議会
    • Related Report
      2018 Research-status Report
    • Invited
  • [Presentation] it Classification of Healthy Young and Elderly Adults Using Micro-Doppler Radar Remote Sensing2018

    • Author(s)
      Hiroaki Okinaka, Kenshi Saho, Masahiro Fujimoto, Seiken Go, Masao Masugi, Kouki Sugano, Kazuki Uemura, Michito Matsumoto
    • Organizer
      Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems (SCIS-ISIS2018)
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] 等ジャークモデルを用いた移動体追尾フィルタの安定性と定常誤差解析2018

    • Author(s)
      柴田 孝則, 佐保 賢志
    • Organizer
      計測自動制御学会 システム・情報部門 学術講演会(SSI 2018)
    • Related Report
      2018 Research-status Report
  • [Presentation] マイクロドップラーレーダを用いた若年者と高齢者の歩容判別2018

    • Author(s)
      沖中 宏彰, 呉 政賢, 佐保 賢志, 菅野 功貴, 藤本 雅大, 馬杉 正男, 上村 一貴, 松本 三千人
    • Organizer
      システム制御情報学会研究発表講演会(SCI'18),
    • Related Report
      2018 Research-status Report
  • [Presentation] 4次追尾フィルタ(α-β-γ-δフィルタ)の定常特性解析2018

    • Author(s)
      柴田 孝則, 佐保 賢志
    • Organizer
      システム制御情報学会研究発表講演会(SCI'18)
    • Related Report
      2018 Research-status Report
  • [Presentation] Steady-State Performance Analysis of Fourth-Order Moving-Object Tracker (alpha-beta-gamma-delta Filter)2018

    • Author(s)
      Takanori Shibata, Kenshi Saho
    • Organizer
      Proceedings of The 2018 International Symposium on Advanced Technologies and Applications in the Internet of Things (ATAIT 2018)
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Gait analysis using micro-Doppler radar for fall-risk assessment of elderly people2018

    • Author(s)
      Kenshi Saho
    • Organizer
      The 2018 International Symposium on Advanced Technologies and Applications in the Internet of Things (ATAIT 2018)
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] マイクロドップラーレーダを用いた歩行者運動検知2018

    • Author(s)
      呉 政賢, 沖中 宏彰, 佐保 賢志, 馬杉 正男, 藤本 雅大
    • Organizer
      ASTER技術テーマ講演会×研究パネル発表会×公開技術セミナー
    • Related Report
      2017 Research-status Report
  • [Presentation] Estimation of Gait Parameters Correlated with Cognitive Function Using Micro-Doppler Radar2018

    • Author(s)
      Kenshi Saho, Kouki Sugano, Kazuki Uemura, and Michito Matsumoto
    • Organizer
      2018 RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing (NCSP'18)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Optimal Second-Order Kalman Filter for Pulse Radar Tracking Using Acceleration Information2018

    • Author(s)
      Kenshi Saho
    • Organizer
      The 5th Annual Conference on Engineering and Information Technology (ACEAIT2018)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] パルスドップラーレーダ干渉計のための視線方向速度情報を活用する複数目標追尾法2017

    • Author(s)
      佐保 賢志
    • Organizer
      電気学会全国大会
    • Place of Presentation
      富山大学(富山県富山市)
    • Year and Date
      2017-03-16
    • Related Report
      2016 Research-status Report
  • [Presentation] 位置と速度を観測値としたH∞フィルタによる移動体追尾2017

    • Author(s)
      沖中 宏彰, 佐保 賢志, 馬杉 正男
    • Organizer
      システム制御情報学会研究発表講演会(SCI'17)
    • Related Report
      2017 Research-status Report
  • [Presentation] Gait classification based on difference of balance ability using micro-Doppler radar for identification of elderly pedestrians with high-risk of falls2017

    • Author(s)
      Kenshi Saho
    • Organizer
      APSCIT 2017 Annual Meeting
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] 加速度センサを用いたジャーク(加加速度)逐次推定フィルタの特性解析及び最適化2017

    • Author(s)
      佐保 賢志, 柴田 孝則
    • Organizer
      電子情報通信学会・情報処理学会・電気学会ITS研究会
    • Related Report
      2017 Research-status Report
  • [Presentation] マイクロドップラーレーダを用いた若年者と高齢者の歩行計測及び歩容解析2017

    • Author(s)
      沖中 宏彰, 佐保 賢志, 菅野 功貴, 藤本 雅大, 馬杉 正男
    • Organizer
      第38回バイオメカニズム学術講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] Micro-Doppler Radar Signal Processing for Human Gait Recognition2016

    • Author(s)
      Kenshi Saho
    • Organizer
      2016 International Conference for Top and Emerging Computer Scientists (IC-TECS2016)
    • Place of Presentation
      GIS TAIPEI TECH Convention Center, Taipei(Taiwan)
    • Year and Date
      2016-12-23
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] マイクロドップラーレーダを用いたバランス能力の差異に基づく歩行者認識 ~ 若年者/高齢者/高齢転倒経験者の歩容分類 ~2016

    • Author(s)
      佐保賢志, 藤本雅大, 馬杉正男
    • Organizer
      電子情報通信学会ITS研究会
    • Place of Presentation
      サンポートホール高松(香川県高松市)
    • Year and Date
      2016-12-01
    • Related Report
      2016 Research-status Report
  • [Presentation] マイクロドップラーレーダを用いた歩行人体の遠隔計測及び歩容分類2016

    • Author(s)
      佐保賢志, 藤本雅大, 馬杉正男
    • Organizer
      第37回バイオメカニズム学術講演会
    • Place of Presentation
      富山県立大学(富山県射水市)
    • Year and Date
      2016-11-13
    • Related Report
      2016 Research-status Report
  • [Presentation] High-resolution Imaging and Identification of Multiple Pedestrians Using UWB Doppler Radar Interferometry and Adaptive Array Processing2016

    • Author(s)
      Motoshi Anabuki, Shigeaki Okumura, Takuya Sakamoto, Kenshi Saho, Toru Sato, Mototaka Yoshioka, Kenichi Inoue, Takeshi Fukuda, and Hiroyuki Sakai
    • Organizer
      International Symposium on Antennas and Propagation (ISAP2016)
    • Place of Presentation
      Okinawa Convention Center (沖縄県宜野湾市)
    • Year and Date
      2016-10-26
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Accuracy Enhanced RPM Method Using Doppler Based Range Points Clustering for 140GHz Band UWB Radar2016

    • Author(s)
      Shouhei Kidera, Yuta Sasaki, Shang Fang, Tetsuo Kirimoto, Kenshi Saho, and Toru Sato,
    • Organizer
      International Symposium on Antennas and Propagation (ISAP2016)
    • Place of Presentation
      Okinawa Convention Center (沖縄県宜野湾市)
    • Year and Date
      2016-10-26
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Moving Object Tracker using Sensor Fusion of Ultrasonic Range Finder and Accelerometer2016

    • Author(s)
      Kenshi Saho, Yusuke Takahashi, and Masao Masugi
    • Organizer
      International Conference on Electrical Engineering (ICEE2016)
    • Place of Presentation
      沖縄県市町村自治会館(沖縄県那覇市)
    • Year and Date
      2016-07-06
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 距離/加速度センサの融合による高精度移動体追跡の実験的検討2016

    • Author(s)
      佐保賢志, 高橋悠祐, 馬杉正男
    • Organizer
      電子情報通信学会ITS研究会
    • Place of Presentation
      北海道大学(北海道札幌市)
    • Year and Date
      2016-05-28
    • Related Report
      2016 Research-status Report
  • [Presentation] 距離/加速度センサの融合に基づく運動目標追跡法の特性解析2016

    • Author(s)
      佐保賢志, 高橋悠祐, 馬杉正男
    • Organizer
      システム制御情報学会研究発表講演会(SCI'16)
    • Place of Presentation
      京都テルサ(京都府京都市)
    • Year and Date
      2016-05-27
    • Related Report
      2016 Research-status Report
  • [Presentation] Performance Analysis of Fixed-Gain Position-Velocity-Measured Tracking Filter2016

    • Author(s)
      Kenshi Saho and Masao Masugi
    • Organizer
      The 2nd International Conference on Control, Automation and Robotics (ICCAR2016)
    • Place of Presentation
      The Cityview Hotel, Hong Kong (China)
    • Year and Date
      2016-04-30
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Book] Kalman Filters: Theory for Advanced Applications2018

    • Author(s)
      Ginalber Luiz Serra, Kenshi Saho, et al.
    • Total Pages
      314
    • Publisher
      IntechOpen
    • ISBN
      9789535138273
    • Related Report
      2017 Research-status Report
  • [Book] Digital Signal Processing (DSP): fundamentals, techniques and applications2016

    • Author(s)
      Juan Zhang, Michael J. Corinthios, Shuqun Zhang, Davis Montenegro, Javier Gonzalez, Weidong Chen, Kenshi Saho, Xiaowei Yang, Warsame H. Ali, Emmanuel S. Kolawole, Ivan S. Uroukov
    • Total Pages
      189
    • Publisher
      Nova Science Publishers
    • Related Report
      2016 Research-status Report

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Published: 2016-04-21   Modified: 2022-02-21  

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