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2021 年度 実績報告書

音響カメラを用いた極限水中環境センシング

研究課題

研究課題/領域番号 21J12362
研究機関東京大学

研究代表者

WANG YUSHENG  東京大学, 工学系研究科, 特別研究員(DC2)

研究期間 (年度) 2021-04-28 – 2023-03-31
キーワード2d forward looking sonar / 3d reconstuction / fiduicial marker / pose estimation
研究実績の概要

This research mainly deal with sensing with 2D forward looking sonar. It includes the generation of a fiducial marker system, and 3D reconstruction using 2D forward looking sonar images. In the past year, there are several outcomes achieved. First, two journal papers on 3D reconstcution with acoustic images were published online. A conference paper was accepted and the presentation was carried out online. In addition, one journal paper is under review. Second, an experimet was carried out in a large-scale water tank. Successful results were witnessed. In the future, more outcomes should be achieved. Currently, one journal paper is working in progress. An experiment in real ocean environment is expected to test the algorithm.

現在までの達成度 (区分)
現在までの達成度 (区分)

2: おおむね順調に進展している

理由

The overall progress is smooth. Several papars have been published. The experiment had good results. Better outcomes should be achieved in the following year.

今後の研究の推進方策

In this year, the first tasks is to finish the PhD thesis. To finish writing the thesis, some additional experiments are necessary. In the last year, an experiment was carried out in a water tank which was successful. This year, experiment should be carried out in oceanic environments. The markers will be installed on the caissons to test the proposed algoriths. Although the forward looking sonar and the robot will be offered by the coorperated company, there still some fees should be paid by ourselves. A high performance note pc is needed for real time data processing. Some prototype of the markers should be made by ourselves for test. Before March in the next year, we are going to prepare the experiment for several months, and finally implement the experiment.

  • 研究成果

    (5件)

すべて 2022 2021 その他

すべて 雑誌論文 (2件) (うち査読あり 2件) 学会発表 (2件) (うち国際学会 2件) 備考 (1件)

  • [雑誌論文] Elevation Angle Estimation in 2D Acoustic Images Using Pseudo Front View2021

    • 著者名/発表者名
      Wang Yusheng、Ji Yonghoon、Liu Dingyu、Tsuchiya Hiroshi、Yamashita Atsushi、Asama Hajime
    • 雑誌名

      IEEE Robotics and Automation Letters

      巻: 6 ページ: 1535~1542

    • DOI

      10.1109/LRA.2021.3058911

    • 査読あり
  • [雑誌論文] Acoustic Camera-Based Pose Graph SLAM for Dense 3-D Mapping in Underwater Environments2021

    • 著者名/発表者名
      Wang Yusheng、Ji Yonghoon、Woo Hanwool、Tamura Yusuke、Tsuchiya Hiroshi、Yamashita Atsushi、Asama Hajime
    • 雑誌名

      IEEE Journal of Oceanic Engineering

      巻: 46 ページ: 829~847

    • DOI

      10.1109/JOE.2020.3033036

    • 査読あり
  • [学会発表] Simulator-aided Edge-based Acoustic Camera Pose Estimation2022

    • 著者名/発表者名
      Yusheng Wang
    • 学会等名
      OCEANS 2022 Chennai
    • 国際学会
  • [学会発表] Elevation Angle Estimation in 2D Acoustic Images Using Pseudo Front View2021

    • 著者名/発表者名
      Yusheng Wang
    • 学会等名
      IEEE International Conference on Robotics and Automation (ICRA2021)
    • 国際学会
  • [備考] 研究室URL

    • URL

      http://www.robot.t.u-tokyo.ac.jp/yamalab/index.html

URL: 

公開日: 2022-12-28  

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