Dancing-to-Music Character Animation (2009)
Takaaki Shiratori, Atsushi Nakazawa, Katsushi Ikeuchi
In computer graphics, considerable research has been conducted on realistic human motion synthesis. However, most research does not consider human emotional aspects, which often strongly affect human...
Forensic Retrieval of Striations on Fired Bullets byusing3D GeometricData (2009)
Atsuhiko Banno, Tomohito Masuda, Katsushi Ikeuchi
Currently, optical devices, such as microscopes and CCD cameras, are mainly utilized for identification of bullets and tool marks in the field offorensic science. While these optical methods are...
Tesuo Kiuchi, Katsushi Ikeuchi
The photometric sampling method extracts shape and reflectance properties of surfaces by using multiple illumination directions and a single viewing direction. We have previously proposed a...
Enhancement of 3-D Information Acquisition from 2-D Spatio-Temporal Image (2009)
Chunxiao Li, Katsushi Ikeuchi, Masao Sakauchi
In order to cope with the enormous amount of 3-D Spatio-Temporal Image data we have proposed a method to transform 3-D Spatio-Temporal Image into 2-D Spatio-Temporal Images to reduce processing time...
Visual Reconstruction of an Intersection by Integrating Cameras on Multiple Vehicles (2009)
Daisuke Ota, Shintaro Ono, Katsushi Ikeuchi
A method is presented for generating a bird’s-eye view of a road traffic scene via the integration of multiple images from in-vehicle cameras; the resulting bird’s-eye view supports the goal of...
Stabilizing Illumination Chromaticity Estimation using the Illumination Line Segment (2009)
Rei Kawakami, Katsushi Ikeuchi
We propose a method to stabilize illumination color estimation by using the idea of an “Illumination line segment”. It is a finite line where every illumination color exists in the color space....
8-19 Matching Range Images of Streets with a Residential Map (2009)
Lihong Tong, Shintaro Ono, Masataka Kagesawa, Katsushi Ikeuchi
In order to realize 3D modeling and refinement of buildings in a digital 2D residential map using range images of the streets, we match range images of streets with the digital map. After pattern...
Shintaro Ono, Katsushi Ikeuchi
In this paper, we propose a novel type of 3-D scanning system named ‘Ladder-type laser scanning system, ’ designed for scanning vertical and narrow areas. Two line scanners are equipped on a...
Robby T. Tan, Ko Nishino, Katsushi Ikeuchi
A method to separate diffuse and specular reflection components is presented. The method is based on color, particularly on surface color ratio and chromaticity. We define surface color ratio as an...
Katsushi Ikeuchi, Electrotechnical Laboratory, H. Keith Nishihara, Patrick Sobalvarro, Shigemi Nagata
This paper describes a system which locates and grasps parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to make surface...
Kenji Sakita, Koichi Ogawara, Shinji Murakami, Kentaro Kawamura, Katsushi Ikeuchi
Abstract — This paper describes a method to realize flexible cooperation between human and robot which reflects the intention and state of human by using gaze information. This physiological...
Jun Takamatsu, Koichi Ogawara, Hiroshi Kimura, Katsushi Ikeuchi, Koichi Ogawara, Hiroshi Kimura, ...
As one of the methods for reducing the work of programming, the Learning-from-Observation (LFO) paradigm has been heavily promoted. This paradigm requires the programmer only to perform a task in...
Illumination Distribution from Shadows (2008)
Imari Sat, Yoichi Sat, Katsushi Ikeuchi
The image irradiance of a three-dimensional object is known to be the function of three components: the dis-tribution of light sources, the shape, and rejlectance of a real object surface. In the...
Mixture of Spherical Distributions for Single-View Relighting (2008)
Kenji Hara, Ko Nishino, Katsushi Ikeuchi
www.library.drexel.edu The following item is made available as a courtesy to scholars by the author(s) and Drexel University Library and may contain materials and content, including computer code and...
Mixture of Spherical Distributions for Single-View Relighting (2008)
Kenji Hara, Ko Nishino, Katsushi Ikeuchi
Abstract—We present a method for simultaneously estimating the illumination of a scene and the reflectance property of an object from single view images—a single image or a small number of images...
Forensic Retrieval of Striations on Fired Bullets by using 3D Geometric Data (2008)
Atsuhiko Banno, Tomohito Masuda, Katsushi Ikeuchi
Currently, optical devices, such as microscopes and CCD cameras, are mainly utilized for identification of bullets and tool marks in the field of forensic science. While these optical methods are...
A Framework to Estimate Consistent Surface Color for Large-scale Outdoor Heritages (2008)
Rei Kawakami, Robby T. Tan, Katsushi Ikeuchi
Abstract — The color appearance of an object is significantly influenced by the illumination color. When illumination color changes, the color appearance of the object will change accordingly,...
Ko Nishino, Student Member, Yoichi Sato, Katsushi Ikeuchi
AbstractÐImage-based and model-based methods are two representative rendering methods for generating virtual images of objects from their real images. However,both methods still have several...
3D Shape and Reflectance Morphing (2008)
Yoichi Sato, Imari Sato, Katsushi Ikeuchi
Image morphing techniques can create a smooth transition between two images. However, one of the main weaknesses of the image morphing technique is that intermediate images in the transition often...
DETERMINING PLAUSIBLE MAPPING BETWEEN IMAGES WITHOUT A PRIORI KNOWLEDGE (2008)
Shuntaro Yamazaki, Katsushi Ikeuchi
This paper presents a method of automatically determining dense and smooth mapping between two images without a priori knowledge of either the camera pose or objects. In order to find plausible...
Fast image synthesis of virtual objects in a real scene with natural shading (2008)
Imari Sato, Morihiro Hayashida, Fumiyo Kai, Yoichi Sato, Katsushi Ikeuchi
We propose a new method for superimposing synthetic objects with natural shadings and cast shadows onto a real scene whose illumination condition is dynamically changing in this paper. In general,...
Koichi Ogawara, Jun Takamatsu, Hiroshi Kimura, Katsushi Ikeuchi
a task model by integrating multiple
Symbolic representation of trajectories for skill generation (2008)
Hirohisa Tominaga, Jun Takamatsu, Koichi Ogawara, Hiroshi Kimurat, Katsushi Ikeuchi
The completion of robot programs requires long de-velopment time and much e~ort. To shorten this pro-gramming time and minimize the e~ort, we have been developing a system which we refer to as...
IMAGE-BASED RENDERING FOR MIXED REALITY (2008)
Hiroshi Kawasaki, Hiroyuki Aritaki, Katsushi Ikeuchi, Masao Sakauchi
In this paper, we propose an image-based approach to synthesize a novel view image for mixed reality (MR) systems. Theoretically, the image- based method is good for synthesizing realistic images,...
Temporal Scaling of Upper Body Motion for Sound Feedback System of a Dancing Humanoid Robot (2008)
Takaaki Shiratori, Shunsuke Kudoh, Katsushi Ikeuchi
Abstract — This paper proposes a method to model the modification of upper body motion of dance performance based on the speed of played music. When we observed structured dance motion performed at...
ABSTRACT Object Shape and Reflectance Modeling from Observation (2008)
Yoichi Sato, Mark D. Wheeler, Katsushi Ikeuchi
An object model for computer graphics applications should contain two aspects of information: shape and reflectance properties of the object. A number of techniques have been developed for modeling...
「画像の認識・理解シンポジウム(MIRU2005) 」 2005年7月 Analysis of City Range Image Using Digital Map (2008)
Lihong Tong, Shintaro Ono, Masataka Kagesawa, Katsushi Ikeuchi
Abstract In existing research about 3D city map, geometrical information of buildings ’ facade is derived from video image. In order to improve quality of the geometrical information, range image...
IMAGE GENERATION SYSTEM FOR MIXED-REALITY TRAFFIC EXPERIMENT SPACE (2008)
Shintaro Ono, Koichi Ogawara, Hiroshi Kawasaki, Masataka Kagesawa, Masaaki Onuki, Ken Honda, ...
In this paper, we propose an efficient and effective image generation system for “Mixed Reality Traffic Experiment Space”, an enhanced driving/traffic simulation system which we have been...
Object Detection on Panoramic Laser Range-Image (2008)
Kiyotaka Hirahara, Katsushi Ikeuchi
Abstract-It is important to assess street-parking vehicles causing traffic problems in urban areas, however, it is performed manually and at high cost. It is a top priority for reducing cost, to...
Simultaneous Determination of Registration and Deformation Parameters among 3D Range Images (2008)
Tomohito Masuda, Yuichiro Hirota, Katsushi Ikeuchi, Ko Nishino
Conventional registration algorithms are mostly concerned with rigid-body transformation parameters between a pair of 3D range images. Our proposed framework aims to determine, in a unified manner,...
Tatsuya Yoshida, Shirmila Mohottala, Masataka Kagesawa, Katsushi Ikeuchi, Binary Edge, Binary Edge
Runoff on template matching
Digital Restoration of the Cultural Heritages Abstract (2008)
Takeshi Oishi, Tomohito Masuda, Katsushi Ikeuchi
Historical objects were often destroyed and tainted with the design from other periods. Computer graphics is widely applied to visualize the historical object in its original form. However,...
3D Digital Archive of the Burghers of Calais (2008)
Daisuke Miyazaki, Mawo Kamakura, Tomoaki Higo, Yasuhide Okamoto, Rei Kawakami, Takaaki Shiratori, ...
Abstract. Auguste Rodin is the most celebrated sculptor of the 19th century. His works, such as The Gates of Hell, The Thinker, and The Burghers of Calais, are famous worldwide. To our knowledge, no...
Leg Motion Primitives for a Humanoid Robot to Imitate Human Dances (2008)
Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi, Katsushi Ikeuchi
The goal of the study described in this paper is to develop a total technology for archiving human dance motions. A key feature of this technology is a dance replay by a humanoid robot. Although...
A Rendering Method for Woven Clothes Reflections (2008)
We proposed a physics-based rendering method for reflection of woven textiles. Both reflection properties of fibers and yarns are taken into account, which are the primary factors affecting visual...
Virtual Kawaradera: Fast Shadow Texture for Augmented Reality 1 (2008)
Tetsuya Kakuta, Takeshi Oishi, Katsushi Ikeuchi
Abstract. The Kawaradera temple, formerly located in the village of Asuka, was one of the oldest temples in Japan; unfortunately, it was destroyed by fire in the latter part of the Muromachi Period....
City Range Data Analysis (2008)
Lihong Tong, Shintaro Ono, Masataka Kagesawa, Katsushi Ikeuchi
Abstract In order to realize more precise geometrical models of existing buildings, range images are used to represent the geometrical information of the façades of existing buildings. First, the...
Classification of Bayon Faces Using 3D models (2008)
Mawo Kamakura, Takeshi Oishi, Jun Takamatsu, Katsushi Ikeuchi
Abstract. Digital 3D models of historic buildings or cultural heritage objects are useful for preservation. Not only can we store them permanently, but the models can supply a clear guideline for the...
Senior Member Ieee, Katsushi Ikeuchi, Senior Member, Raj Reddy
Abstract—This paper presents a new approach to free-form object modeling from multiple range images. In most conventional approaches, successive views are registered sequentially. In contrast to...
Vehicle Class Recognition Using 3d Cg Models (2008)
Shirmila Mohottala Masataka, Masataka Kagesawa, Katsushi Ikeuchi
This paper describes a robust method for recognizing vehicle classes. In our previous work, we have developed a vehicle recognition system based on local-feature configuration, which is a...
A Robust Framework To Estimate Surface Color (2008)
From Changing Illumination, Rei Kawakami, Robby T. Tan, Katsushi Ikeuchi
Illumination color determines the color appearance of an object. When illumination color changes, the color appearance of the object will change accordingly, causing its appearance to be...
Determining Plausible Mapping Between Images (2008)
Without Priori Knowledge, Shuntaro Yamazaki, Katsushi Ikeuchi
This paper presents a method of automatically determining dense and smooth mapping between two images without a priori knowledge of either the camera pose or objects. In order to find plausible...
Thirteenth Eurographics Workshop on Rendering (2002) (2008)
Debevec And Gibson, Microfacet Billboarding, Shuntaro Yamazaki, Ryusuke Sagawa, Hiroshi Kawasaki, Katsushi Ikeuchi, ...
Rendering of intricately shaped objects that are soft or cluttered is di#cult because we cannot accurately acquire their complete geometry. Since their geometry varies drastically, modeling them...
Recognition of a Mechanical Linkage (2008)
Yoshihiro Sato, Jun Takamatsu, Hiroshi Kimura, Katsushi Ikeuchi
In this paper, we propose a vision-based technique for recognition of a mechanical linkage. The aim is to realize a robot system which can autonomously operate an object with a mechanical linkage....
Mixture of spherical distributions for single-view relighting (2008)
Hara, Kenji, Nishino, Ko, Ikeuchi, Katsushi
Wepresent a method for simultaneously estimating the illumination of a scene and the reflectance property of an object from single view images—a single image or a small number of images taken from...
PERERA, Manoj, SHIRATORI, Takaaki, KUDOH, Shunsuke, NAKAZAWA, Atsushi, IKEUCHI, Katsushi
In this paper, we present a novel approach to recognize motion styles and identify people using the Multi Factor Tensor (MFT) model. We apply a musical information analysis method in segmenting the...
3D Model Segmentation and Representation with Implicit Polynomials (2008)
ZHENG, Bo, TAKAMATSU, Jun, IKEUCHI, Katsushi
When large-scale and complex 3D objects are obtained by range finders, it is often necessary to represent them by algebraic surfaces for such purposes as data compression, multi-resolution, noise...
Assembly of Flexible Objects without Analytical Models (2007)
The ability of manipulating flexible objects, such as rubber belts and paper sheets, is important in automated manufacturing systems. This paper describes a novel approach to assembly of flexible...
Event Recognitions from Traffic Images based on Spatio-Temporal Markov Random Field Model (2007)
Shunsuke Kamijo, Katsushi Ikeuchi, Masao Sakauchi
One of the major interest on ITS is event recognitions from traffic informations gathered by image sensors or spot sensors. For that purpose, we employed image sensors due to its more rich...
SUMMARY INCIDENT DETECTION AT INTERSECTIONS UTILIZING HIDDEN MARKOV MODEL (2007)
Shunsuke Kamijo, Yasuyuki Matsushita, Katsushi Ikeuchi, Masao Sakauchi
The number of deaths and injuries from traffic accidents has been rapidly increasing. Most of those accidents occur at and nearby intersections. It is very important to detect accidents...
Model-based SAR ATR System* (2007)
Katsushi Ikeuchi, M. D. Wheeler, Taku Yamazaki, Takeshi Shakunaga
Recognizing a target in synthetic-aperture radar (SAR) images is an important, yet challenging, application of the model-based vision technique. This paper describes a model-based SAR recogni-tion...
Determi ling Linear Shape Change: Toward Automatic Ger Object Recognition Programs* (2007)
A 3D object localization task may be divided into two steps. First, one object appearance will be classified into one of the topologically equivalent classes of the 3D object appearances, referred to...
ARTIFICIAL INTELLIGENCE Shape from Regular Patterns (2007)
Katsushi Ikeuchi, Recommcndcd Michael Rrady
niis paper describes an aigoritlitr1 to obtaitl local surface orierltatiorr frofti the apparetlt surface-pattertl distortion in an image. We propose a spherical projection to model perspctiue...
Koichi Ogawara, Jun Takamatsu, Soshi Iba, Tomikazu Tanuki, Hiroshi Kimura, Katsushi Ikeuchi
hand-action models in task and behavior levels by a learning
Surfaces, Spherical Rcprtscntations (2007)
Herve Delingette, Martial Hebert, Katsushi Ikeuchi
views and conclusions contained in this report ae those of the authors and should not be interpreted as repreKnting the official policies. either e xpscd or implied, of be Dcfensc Advanced Rojcctr...
George V Paul, Katsushi Ikeuchi
iii This report presents a general method for representing the motion of an object while maintaining contact with other fixed objects. The motivation for our work is the assembly plan from...
Modelling Human Assembly Actions from Observation (2007)
George V Paul, Yunde Jiar, Mark D Wheeler, Katsushi Ikeuchi
This paper describes a system which can model an assembly task performed by a human. The actions are recorded in real-time using a stereo system. The assembled objects ana' the jingers of the...
Partitioning Contact State Space Using the Theory of Polyhedral Convex Cones (2007)
George V Paul, Katsushi Ikeuchi
The assembly plan from observation (APO) system observes a human operator perform an assembly task, analyzes the observations, models the task, and generates the programs for the robot to perform the...
Microfacet Billboarding, Shuntaro Yamazaki, Ryusuke Sagawa, Hiroshi Kawasaki, Katsushi Ikeuchi, Masao Sakauchi
Rendering of intricately shaped objects that are soft or cluttered is difficult because we cannot accurately acquire their complete geometry. Since their geometry varies drastically, modeling them...
3-D Object Pose Determination Using Complex EGI (2007)
Sing Bing Kang, Katsushi Ikeuchi
c fl1990 Carnegie Mellon University This research was sponsored by DARPA under Contract F33615-87-C-1499. The views and conclusions contained in this document are those of the authors and should not...
1 The Space-Time Map Applied to Drosophila Embryogenesis (2007)
Prem Janardhan, Martial Hebert, Katsushi Ikeuchi
Many physical phenomena have complex structure in both space and time. To systematically understand these phenomena from images we need representations that unify the treatment of space and time. We...
ABSTRACT Object Shape and Reflectance Modeling from Observation (2007)
Yoichi Sato, Mark D. Wheeler, Katsushi Ikeuchi
An object model for computer graphics applications should contain two aspects of information: shape and reflectance properties of the object. A number of techniques have been developed for modeling...
Proc. 1995 IEEE Int. Conf. on Intelligent Robots and Systems (2007)
Vol Pp Pittsburgh, Jun Miura, Katsushi Ikeuchi
The ability of manipulating flexible objects, such as rubber belts and paper sheets, is important in automated manufacturing systems. This paper describes a novel approach to assembly of flexible...
Miyazaki, Daisuke, Shibata, Tadashi, Ikeuchi, Katsushi
In order to create a photorealistic Virtual Reality model, we have to record the appearance of the object from different directions under different illuminations. In this paper, we propose a method...
Miyazaki, Daisuke, Hara, Kenji, Ikeuchi, Katsushi
One of the necessary techniques for constructing a virtual museum is to digitize the artwork arranged inside a glass or acrylic display case without bringing the artwork out of the display case. By...
Miyazaki, Daisuke, Shibata, Tadashi, Ikeuchi, Katsushi
In order to create a photorealistic Virtual Reality model, we have to record the appearance of the object from different directions under different illuminations. In this paper, we propose a method...
Miyazaki, Daisuke, Hara, Kenji, Ikeuchi, Katsushi
One of the necessary techniques for constructing a virtual museum is to digitize the artwork arranged inside a glass or acrylic display case without bringing the artwork out of the display case. By...
IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE (2007)
Kenji Hara, Ko Nishino, Katsushi Ikeuchi
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication.
Principal Component Analysis with Missing Data and its Application to Object Modeling (2006)
Shum, Heung-yeung, Ikeuchi, Katsushi, Reddy, Raj
Observation-based object modeling often requires integration of shape descriptions from different views. In current conventional methods, to sequentially merge multiple views, accurate description of...
Combining Shape and Color Information for 3D Object Recognition (2006)
Higuchi, Kazunori, Hebert, Martial, Ikeuchi, Katsushi
Both photometric and geometric information are important for 3D object recognition. Traditionally, however, few systems utilized both types of information. This is because no single representation is...
Building 3-D Models from Unregistered Range Images (2006)
Higuchi, Kazunori, Hebert, Martial, Ikeuchi, Katsushi
In this paper, we describe a new approach for building a three- dimensional model from a set of range images. The approach is able to build models of free-form surfaces obtained from arbitrary...
Task Model of Lower Body Motion for a Biped Humanoid Robot to Imitate Human (2005)
Shinichiro Nakaoka, Atsushi Nakazawa, Fumio Kanehiro, Kenji Kaneko, Mitsuharu Morisawa, Katsushi Ikeuchi
Abstract — The goal of this study is developing a biped humanoid robot that can observe a human dance performance and imitate it. To achieve this goal, we propose a task model of lower body motion,...
Kenji Hara, Ko Nishino, Katsushi Ikeuchi
Abstract—Several techniques have been developed for recovering reflectance properties of real surfaces under unknown illumination. However, in most cases, those techniques assume that the light...
Adaptively Merging Large-Scale Range Data with Reflectance Properties (2005)
Ryusuke Sagawa, Ko Nishino, Katsushi Ikeuchi
Abstract—In this paper, we tackle the problem of geometric and photometric modeling of large intricately shaped objects. Typical target objects we consider are cultural heritage objects. When...
Knotting Rope by Learning from Visual Examples (2005)
M. Miyazaki, K. Ikeuchi, Maiko Miyazaki, Katsushi Ikeuchi
In the field of deformable object manipulation, planning and manipulation methods have long been studied separately. Yet, to put together these methods to implement one whole manipulation system, a...
Vehicle Class Recognition of Street-Parking Vehicles from Side-View Range Images (2005)
Ryo Ohta, Shirmila Mohottala, Shintaro Ono, Masataka Kagesawa, Katsushi Ikeuchi
This paper describes a novel method for recognizing the classes of street-parking vehicles. We have already developed the following two systems: one is vehicle recognition system based on...
3D Database System of Mercede Church: The Use of 3D Models as an Interface to Information (2005)
Yasuhide Okamoto, Jun TAKAMATSU, Masataka KAGESAWA, Ken Okada, Katsushi Ikeuchi
Advancement in 3D modelling technologies has enabled us to obtain high resolution 3D models of real objects, for example historic buildings. Unfortunately, however, the application tools for large...
Inverse Polarization Raytracing: Estimating Surface Shape of Transparent Objects (2005)
Daisuke Miyazaki, Daisuke Miyazaki, Katsushi Ikeuchi, Katsushi Ikeuchi
We propose a novel method for estimating the surface shapes of transparent objects by analyzing the polarization state of the light. Existing methods do not fully consider the reflection, refraction,...
Consistent Surface Color for Texturing Large Objects in Outdoor Scenes (2005)
Rei Kawakami, Katsushi Ikeuchi, Robby T. Tan
Color appearance of an object is significantly influenced by the color of the illumination. When the illumination color changes, the color appearance of the object will change accordingly, causing...
Daisuke Miyazaki, Noriyuki Takashima, Akira Yoshida, Eiki Harashima, Katsushi Ikeuchi
In the first part of this paper, we present a method to estimate the shape of transparent objects by using polarization. Few existing methods for this procedure consider internal interreflection,...
Shape Recovery of 3D Data Obtained from a Moving Range Sensor by Using Image Sequences (2005)
Atsuhiko Banno, Katsushi Ikeuchi
For a large object, scanning from the air is one of the most efficient methods of obtaining 3D data. But in the case of large cultural heritage objects, there are some difficulties in scanning with...
Motion Estimation of a Moving Range Sensor by Image Sequences and Distorted Range Data (2005)
Atsuhiko Banno, Kazuhide Hasegawa, Katsushi Ikeuchi
For a large scale object, scanning from the air is one of the most efficient methods of obtaining 3D data. In the case of large cultural heritage objects, there are some difficulties in scanning them...
Light Source Position and Reflectance Estimation (2005)
From Single View, Kenji Hara, Ko Nishino, Katsushi Ikeuchi
Several techniques have been developed for recovering reflectance properties of real surfaces under unknown illumination. However, in most cases, those techniques assume that the light sources are...
High Quality Color Restoration using (2005)
Spectral Power Distribuion, Akifumi Ikari, Tomohito Masuda, Tohru Mihashi, Kenji Matsudo, Nobuaki Kuchitsu, ...
In connection with e#orts to preserve objects of cultural heritage, we are attempting to recreate the real color of a wall painting in the ancient Ozuka tumulus. The di#culties are that there is no...
A Photo-Realistic Driving Simulation System for Mixed-Reality Traffic Experiment Space (2005)
Shintaro Ono, Koichi Ogawara, Masataka Kagesawa, Hiroshi Kawasaki, Masaaki Onuki, Junichi Abeki, ...
Abstract — In this paper, we propose an efficient and effective image generation system for “Mixed Reality Traffic Experiment Space”, an enhanced driving/traffic simulation system which we have...
Virtual Reality Model of Koumokuten (2004)
Generated From Measurement, Hiroki Unten, Katsushi Ikeuchi
modeling of real world objects. In this paper, we present a system to create virtual reality model automatically from measurement of real object and present a virtual reality model of Koumokuten clay...
Color Constancy through Inverse-Intensity Chromaticity Space (2004)
Robby T. Tan, Ko Nishino, Katsushi Ikeuchi
this paper, we present a single integrated method to estimate illumination chromaticity from single-colored and multi-colored surfaces. Unlike existing dichromaticbased methods, our proposed method...
Illumination Normalization with Time-Dependent Intrinsic Images for Video Surveillance (2004)
Yasuyuki Matsushita, Ko Nishino, Katsushi Ikeuchi, Masao Sakauchi
Variation in illumination conditions caused by weather, time of day, etc., makes the task difficult when building video surveillance systems of real world scenes. Especially, cast shadows produce...
An Efficient Method for Composing Whole Body Motions of a Humanoid Robot (2004)
Shinichiro Nakaoka, Atsushi Nakazawa, Katsushi Ikeuchi
This paper describes a method for composing whole body motions of a humanoid robot. Recently there have been many studies of controlling a humanoid robot, and robots have been acquiring the ability...
Separating Reflection Components Based on Chromaticity and Noise Analysis (2004)
Robby T. Tan, Ko Nishino, Katsushi Ikeuchi
Many algorithms in computer vision assume diffuse only reflections and deem specular reflections to be outliers. However, in the real world, the presence of specular reflections is inevitable, since...
Separating Reflection Components Based on Chromaticity and Noise Analysis (2004)
Robby T. Tan, Student Member, Ko Nishino, Katsushi Ikeuchi
Many algorithms in computer vision assume diffuse only reflections and deem specular reflections to be outliers. However, in the real world, the presence of specular reflections is inevitable since...
Tomohito Masuda, Yosuke Yamada, Nobuaki Kuchitsu, Katsushi Ikeuchi
The Fugoppe Cave, located in northern Japan, is a natural cave in tertiary tufaceous rocks. Archaeologists believe that ancient painters and sculptors worked inside the cave using artificial lights...
Detecting Dance Motion Structure Using Motion Capture and Musical Information (2004)
Takaaki SHIRATORI, Atsushi Nakazawa, Katsushi Ikeuchi
This paper describes a dance motion analysis method considering music rhythm. In these days, many important intangible cultural properties are being lost because of the lack of successive performers,...
Balance Maintenance by Stepping for Human-like (2004)
Characters Against Large, Shunsuke Kudoh, Taku Komura, Katsushi Ikeuchi
We propose a method of balance maintenance for human-like characters against large perturbations. The motions that can be generated by the method enable a human-like character to maintain its balance...
Aged Shape Deterioration Visualization Based upon 3D Shape Measurement (2004)
Observing Brick Wall, Tomohito Masuda, Yosuke Yamada, Nobuaki Kuchitsu, Katsushi Ikeuchi
It is important for the consevators/curators to verificate and quantitatively evaluate their treatment e#ectiveness of certain cultural property in order to prevent their acts from giving it the bad...
Transparent Surface Modeling from a Pair of Polarization Images (2004)
Daisuke Miyazaki, Masataka Kagesawa, Katsushi Ikeuchi
We propose a method for measuring surface shapes of transparent objects by using a polarizing filter. Generally, the light reflected from an object is partially polarized. The degree of polarization...
Leg Motion Primitives for a Dancing Humanoid Robot (2004)
Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi, Katsushi Ikeuchi
The goal of the study described in this paper is to develop a total technology for archiving human dance motions. A key feature of this technology is a dance replay by a humanoid robot. Although...
Detecting Dance Motion Structure through Music Analysis (2004)
Takaaki Shiratori, Atsushi Nakazawa, Katsushi Ikeuchi
In these days, many important intangible cultural properties of the world are being lost because of the lack of successive performers. Digital archiving technology is one of the effective solutions...
Bayon digital archival project (2004)
Katsushi Ikeuchi, Kazuhide Hasegawa, Atsushi Nakazawa, Jun Takamatsu, Takeshi Oishi, Tomohito Masuda
Abstract. We have been digitizing the Bayon temple, which is located at the center of Angkor-Tom in the kingdom of Cambodia. We have been planning three times on-site measurement, and have thus far...
Extracting Shape Reflectance of Lambertian, Specular, and Hybrid Surfaces (2003)
Nayar, Shree K., Ikeuchi, Katsushi, Kanade, Takeo
All existing shape extraction techniques that are based on photometric measurements rely on assumed surface reflection properties. A method is proposed for determining the shape of surfaces whose...
Separating reflection components of textured surfaces using a single image (2003)
Robby T. Tan, Katsushi Ikeuchi
Abstract—In inhomogeneous objects, highlights are linear combinations of diffuse and specular reflection components. A number of methods have been proposed to separate or decompose these two...
Illumination normalization with time-dependent intrinsic images for video surveillance (2003)
Yasuyuki Matsushita, Ko Nishino, Katsushi Ikeuchi, Masao Sakauchi
Cast shadows produce troublesome effects for video surveillance systems, typically for object tracking from a fixed viewpoint, since it yields appearance variations of objects depending on whether...
Robby T. Tan, Ko Nishino, Katsushi Ikeuchi
Tan et al. Vol. 21, No. 3/March 2004/J. Opt. Soc. Am. A 321
Recognition and Generation of Leg Primitive Motions for Dance Imitation by a Humanoid Robot (2003)
Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi, Katsushi Ikeuchi
We have attempted to realize a dancing humanoid robot which can imitate dance performances by a human. It is impossible to realize a performance including leg actions on a robot by direct conversion...
A Hidden Markov Model Based Sensor Fusion (2003)
Approach For Recognizing, Keni Bernardin, Koichi Ogawara, Katsushi Ikeuchi, Ruediger Dillmann
The Programming by Demonstration (PbD) technique aims at teaching a robot to accomplish a task by learning from a human demonstration. In a manipulation context, recognizing the demonstrator 's...
Parallel Alignment of a Large Number of Range Images (2003)
Takeshi Oishi, Atsushi Nakazawa, Ryusuke Sagawa, Ryo Kurazume, Katsushi Ikeuchi
This paper describes a method for parallel alignment of multiple range images. It is difficult to align a large number of range images simultaneously. Therefore, we developed the parallel method to...
Generating Whole Body Motions for a Biped Humanoid Robot (2003)
From Captured Human, Shinichiro Nakaoka, Atsushi Nakazawa, Kazuhito Yokoi, Hirohisa Hirukawa, Katsushi Ikeuchi
The goal of this study is a system for a robot to imitate human dances. This paper describes the process to generate whole body motions which can be performed by an actual biped humanoid robot. Human...
Polarization-based Inverse Rendering from a Single View (2003)
Daisuke Miyazaki, Robby T. Tan, Kenji Hara, Katsushi Ikeuchi
This paper presents a method to estimate geometrical, photometrical, and environmental information of a singleviewed object in one integrated framework under fixed viewing position and fixed...
Polarization-based Transparent Surface Modeling from Two Views (2003)
Daisuke Miyazaki, Masataka Kagesawa, Katsushi Ikeuchi
In this paper, we propose a novel method to recover the surface shape of transparent objects. The degree of polarization of the light reflected from the object surface depends on the reflection angle...
Calculating optimal trajectories from contact transitions (2003)
Jun Takamatsu, Hiroshi Kimurat, Katsushi Ikeuchi
The learning-from-demonstration method is focused on for a novel robot-programming style. It consists of two parts: to recognize human performance from ob-servation as sequential motion primitives...
Shunsuke Kamijo, Katsushi Ikeuchi, Masao Sakauchi
For many years, object tracking in images has suffered from the problems of occlusions and illumination effects. In order to resolve occlusion problems, we have been proposing the Spatio-Temporal...
Ryo Kurazume, Ko Nishino, Zhengyou Zhang, Katsushi Ikeuchi
Texture mapping on scanned objects, that is, the method to map current color images on a 3D geometric model measured by a range sensor, is a key technique of photometric modeling for virtual reality....
Robust simultaneous registration of multiple range images (2002)
The registration problem of multiple range images is fundamental for many applications that rely on precise geometric models. We propose a robust registration method that can align multiple range...
Imitating Human Dance Motions through Motion Structure Analysis (2002)
Atsushi Nakazawa, Shinichiro Nakaoka, Katsushi Ikeuchi, Kazuhito Yokoi
This paper presents the method for importing human dance motion into humanoid robots through visual observation. The human motion data is acquired from a motion capture system consisting of 8 cameras...
Modeling Manipulation Interactions by Hidden Markov Models (2002)
Koichi Ogawara Jun, Jun Takamatsu, Hiroshi Kimura, Katsushi Ikeuchi
This paper describes a new approach on how to teach everyday manipulation tasks to a robot under the "Learning from Observation" framework. In our previous work, to acquire low-level action...
Iterative Refinement of Range Images with Anisotropic Error Distribution (2002)
Ryusuke Sagawa, Takeshi Oishi, Atsushi Nakazawa, Ryo Kurazume, Katsushi Ikeuchi
We propose a method which refines the range measurement of range finders by computing correspondences of vertices of multiple range images acquired from various viewpoints. Our method assumes that a...
Digital Archive of Human Dance Motions (2002)
Atsushi Nakazawa, Atsushi Nakazawa Shinchiro, Shunsuke Kudoh, Katsushi Ikeuchi
This paper presents our project that aims to develop the technologies to digitize, analyse and present human motions. The human motion data is acquired from a motion capture system consisting of 8...
Determining Shapes of Transparent Objects from Two Polarization Images (2002)
Daisuke Miyazaki, Masataka Kagesawa, Katsushi Ikeuchi
In the field of computer vision, beneficial methods of measuring surface shape of transparent objects such as glasses have rarely been proposed. In this paper, we propose a convenient and inexpensive...
Task Analysis Based on Observing Hands and Objects By Vision (2002)
Yoshihiro Sato Keni, Yoshihiro Sato, Keni Bernardin, Hiroshi Kimura, Katsushi Ikeuchi
In order to transmit, share and store human knowledge, it is important for a robot to be able to acquire task models and skills by observing human actions. Since vision plays an important role for...
The Dynamic Postural Adjustment with the Quadratic (2002)
Programming Method Shunsuke, Shunsuke Kudoh, Taku Komura, Katsushi Ikeuchi
The postural balance system is one of the most fundamental functions for humanoid robot control. In this paper, we propose a new feedback balance control system for the human body. This system can...
Photometric Aspects on the Preservation of Cultural Assets (2002)
Ko Nishino Kenji, Kenji Hara, Robby T. Tan, Daisuke Miyazaki, Katsushi Ikeuchi
We recently started a project to construct a digital archive of cultural heritage objects. Besides geometrical preservation, preserving the current appearance of historical assets is an important and...
Non-manifold Implicit Surfaces (2002)
Based On Discontinuous, Shuntaro Yamazaki, Katsushi Ikeuchi, Kiwamu Kase
Implicit surfaces in 3D geometric modeling are limited to two manifolds because the corresponding implicit fields are usually defined by real-valued functions which bisect space into interior and...
Towards The Digital Archive of Cultural Heritages (2002)
Preservation And Restoration, Katsushi Ikeuchi, Ko Nishino, Atsushi Nakazawa
We present an overview of our project to construct a digital archive of cultural heritages. Among the efforts in our project, in this paper, we briefly overview our research on geometric and...
PAPER Special Section on Information System Technologies for ITS (2002)
Vehicle Classification System, Tatsuya Yoshida, Shirmila Mohottala, Masataka Kagesawa, Katsushi Ikeuchi
This paper describes our vehicle classification system, which is based on local-feature configuration. We have already demonstrated that our system works very well for vehicle recognition in outdoor...
Interactive multi-modal robot programming (2002)
Soshi Iba, Chris Paredis, Chris Atkeson, Katsushi Ikeuchi
As robots enter the human environment and come in contact with inexperienced users, they need to be able to interact with users in a multi-modal fashion—keyboard and mouse are no longer acceptable...
Correcting observation errors for assembly task recognition (2002)
Jun Takamatsu, Koichi Ogawara, Hiroshi Kimurat, Katsushi Ikeuchi
The completion of robot programs requires long devel-opment time and much effort. To shorten the pro-gramming time and to minimize the effort, we have been developing a system which we refer to as...
Ikeuchi : “Improved screw theory using second order terms (2002)
Jun Takamatsu, Hiroshi Kimurat, Katsushi Ikeuchi
Abstract z The local displacement of an object is very useful for deciding grasp stability, generating trajectories, recognizing assembly tasks, and so on. To calculate this displacement, the screw...
Katsushi Ikeuchi, Daisuke Miyazaki, Daisuke Miyazaki, Megumi Saito, Megumi Saito, Yoichi Sato, ...
"Determining surface orientations of transparent objects based on polarization degrees in visible and infrared wavelengths,"
Determining Shapes of Transparent Objects from Two Polarization Images (2002)
Daisuke Miyazaki, Masataka Kagesawa, Katsushi Ikeuchi
In the field of computer vision, beneficial methods of measuring surface shape of transparent objects such as glasses have rarely been proposed. In this paper, we propose a convenient and inexpensive...
Ko Nishino, Zhengyou Zhang, Katsushi Ikeuchi
A framework for photo-realistic view-dependent image synthesis of a shiny object from a sparse set of images and a geometric model is proposed. Each image is aligned with the 3D model and decomposed...
Mapping textures on 3D geometric model using reflectance image (2001)
Ryo Kurazume, M. D. Wheeler, Katsushi Ikeuchi
Texture mapping on scanned objects, that is, the method to map current color images on a 3D geometric model measured by a range sensor, is a key technique of photometric modeling for virtual reality....
Stability issues in recovering illumination distribution from brightness in shadows (2001)
Imari Sato, Yoichi Sato, Katsushi Ikeuchi
This paper describes a robust method for estimating, in a reliable manner, the illumination distribution of a real scene from shadows in a given image. In general, shadows in a scene are caused by...
Light field rendering for large-scale scenes (2001)
Hiroshi Kawasaki, Katsushi Ikeuchi, Masao Sakauchi
In this paper, we present an efficient method to synthesize large-scale scenes, such as broad city landscapes. To date, model based approaches have mainly been adopted for this purpose, and some...
Shunsuke Kamijo, Katsushi Ikeuchi, Masao Sakauchi
One of the most important research in ITS is the development of systems that automatically analyze or monitor tra#c activities. For that purpose, it is necessary to achieve reliable vehicle tracking...
Parallel Processing of Range Data Merging (2001)
Ryusuke Sagawa Ko, Ko Nishino, Mark D. Wheeler, Katsushi Ikeuchi
This paper describes a volumetric view-merging algorithm that generates a consensus surfaceofanobject from its range images. Our original method merges a set of range images into a volumetric...
Ko Nishino, Zhengyou Zhang, Katsushi Ikeuchi
A framework for photo-realistic view-dependent image synthesis of a shiny object from a sparse set of images and a geometric model is proposed. Each image is aligned with the 3D model and decomposed...
Automatic 3D City construction System using Omni Camera (2000)
Hiroshi Kawasaki, Katsushi Ikeuchi, Masao Sakauchi
Video analysis and mixed reality (MR) systems, which integrate the virtual world and the real world, are important topics of multimedia research. In this paper, we propose an efficient 3D city...
Recognition of human behaviour using stereo vision and data gloves (2000)
Koichi Ogawara, Soshi Iba, Tomikazu Tanuki, Yoshihiro Sato, Akira Saegusa, Hiroshi Kimura, ...
This paper presents a novel method of constructing a human behaviour model by attention point (AP) analysis. The AP analysis consists of two steps. At the first step, it broadly observes human...
Arbitrary view position and direction rendering for large-scale scenes (2000)
Takuji Takahashi, Hiroshi Kawasaki, Katsushi Ikeuchi, Masao Sakauchi
This paper presents a new method for rendering views, especially those of large-scale scenes, such as broad city landscapes. The main contribution of our method is that we are able to easily render...
Sakauchi M, Spatio-temporal analysis of omni image (2000)
Hiroshi Kawasaki, Katsushi Ikeuchi, Masao Sakauchi
This paper describes an efficient method to obtain 3D information by using spatio-temporal analysis of omni images for outdoor navigation and map-making in the intelligent transportation system (ITS)...
The Great Buddha Project: Modelling Cultural Heritage through Observation (2000)
Daisuke Miyazaki, Takeshi Ooishi, Taku Nishikawa, Ryusuke Sagawa, Ko Nishino, Takashi Tomomatsu, ...
Abstract. This paper presents an overview of our efforts in modeling cultural heritage through observation. These efforts span three aspects: how to create geometric models of cultural heritage; how...
The Great Buddha Project: Modelling Cultural Heritage through Observation (2000)
Daisuke Miyazaki, Daisuke Miyazaki, Takeshi Ooishi, Takeshi Ooishi, Taku Nishikawa, Taku Nishikawa, ...
Abstract. This paper presents an overview of our efforts in modeling cultural heritage through observation. These efforts span three aspects: how to create geometric models of cultural heritage; how...
Illumination Distribution from Shadows (1999)
Imari Sato Yoichi, Yoichi Sato, Katsushi Ikeuchi
The image irradiance of a three-dimensional object is known to be the function of three components: the distribution of light sources, the shape, and reflectance of a real object surface. In the...
Imari Sato Yoichi, Yoichi Sato, Katsushi Ikeuchi
This paper describes a new method for estimating the illumination distribution of a real scene from a radiance distribution inside shadows cast by an object in the scene. First, the illumination...
Acquiring a Radiance Distribution to Superimpose Virtual Objects onto a Real Scene (1999)
Imari Sato, Yoichi Sato, Katsushi Ikeuchi
This paper describes a new method for superimposing virtual objects with correct shadings onto an image of a real scene. Unlike the previously proposed methods, our method can measure a radiance...
Measurement of Surface Orientations of Transparent Objects Using Polarization in Highlight (1999)
Megumi Saito Yoichi, Yoichi Sato, Katsushi Ikeuchi, Hiroshi Kashiwagi
This paper proposes a method for obtaining surface orientations of transparent objects using polarization in highlight. Since the highlight, the specular component of reflection light from objects,...
Photometric Modeling for Mixed Reality (1999)
Katsushi Ikeuchi, Yoichi Sato, Ko Nishino, Imari Sato
Introduction The mixed reality technology is considered as one of the key technologies for enhancing a wide variety of applications ranging from manufacturing to entertainment. The mixed reality...
Appearance Compression and Synthesis based on 3D Model for Mixed Reality (1999)
Ko Nishino, Yoichi Sato, Katsushi Ikeuchi
Rendering photorealistic virtual objects from their real images is one of the main research issues in mixed reality systems. We previously proposed the Eigen-Texture method, a new rendering method...
Eigen-texture method: Appearance compression based on 3D model (1999)
Ko Nishino, Student Member, Yoichi Sato, Katsushi Ikeuchi
AbstractÐImage-based and model-based methods are two representative rendering methods for generating virtual images of objects from their real images. However, both methods still have several...
Picking up an Object from a Pile of Objects. (1998)
Ikeuchi,Katsushi, Horn,Berthold K. P., Nagata,Shigemi, Callahan,Tom, Feingold,Oded
This paper describes a hand-eye system we developed to perform the bin-picking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric...
Model-Based Vision System by Object-Oriented Programming. (1998)
Chang, Huey, Ikeuchi, Katsushi, Kanade, Takeo
This paper presents an approach to using object-oriented programming for the generation of a object recognition program that recognizes a complex 3-D object within a jumbled pile. We generate a...
Surface Reflection: Physical and Geometrical Perspectives. (1998)
Nayar, Shree K., Ikeuchi, Katsushi, Kanade, Takeo
Machine vision can greatly benefit from the development of accurate reflectance models. There are two approaches to the study of reflection: physical and geometrical optics. While geometrical models...
3-D Object Pose Determination Using Complex EGI. (1998)
Kang, Sing B., Ikeuchi, Katsushi
This report describes a new method based on the Extended Gaussian Image (EGI) which can be used to determine the pose of a 3-D object. In this scheme, the weight associated with each outward surface...
Shape from Interreflections. (1998)
Nayar, Shree K., Ikeuchi, Katsushi, Kanade, Takeo
All shape-from-intensity methods assume that points in a scene are only illuminated by sources of light. Most scenes consist of concave surfaces and/or concavities that result from multiple objects...
A 3D-Object Reconstruction System Integrating Range-Image Processing and Rapid Prototyping. (1998)
Cerrada, Carlos, Ikeuchi, Katsushi, Weiss, Lee, Reddy, Raj
This paper describes a system which integrates computer vision and rapid manufacturing technologies to scan physical objects and to replicate the reconstructed shapes as steel faced dies using...
Appearance Simulator for Computer Vision Research. (1998)
Fujiwara, Yoshimasa, Nayer, Shree, Ikeuchi, Katsushi
Computer vision research needs a flexible and robust method to obtain accurate appearance of a scene. Such needs include generating test data, using a simulator as a part of an algorithm, and...
Solomon, Fredric, Ikeuchi, Katsushi
Two important aspects of part inspection are the measurement or surface shape and surface roughness. A noncontact method is proposed for measuring surface shape and surface roughness. The method,...
A Framework for Recognizing Grasps. (1998)
Kang, Sing B., Ikeuchi, Katsushi
Many of the tasks that are potential candidates for automation involve grasping. We are interested in the programming of robots to perform grasping tasks. To do this, we propose the notion of...
Appearance-Based Vision and the Automatic Generation of Object Recognition Programs, (1998)
Gremban, Keith D., Ikeuchi, Katsushi
The generation of recognition programs by hand is a time-consuming, labor-intensive task that typically results in a special purpose program for the recognition of a single object or a small set of...
Implementation and Evaluation of a Three-Dimensional Photometric Sampler, (1998)
Sato, Hideichi, Nayar, Shree K., Ikeuchi, Katsushi
The photometric sampling method extracts shape and reflectance properties of surfaces (Lambertian, specular, and hybrid) by using multiple illumination directions and a single viewing direction. In...
Towards a Vision Algorithm Compiler for Recognition of Partially Occluded 3-D Objects, (1998)
Wheeler, Mark D., Ikeuchi, Katsushi
Our goal is to develop a model-based vision system that is capable of recognizing 3-D objects in range images in spite of partial occlusion of the objects. We present new methods for object...
Planning Multiple Observations for Object Recognition, (1998)
Gremban, Keith D., Ikeuchi, Katsushi
Most computer vision systems perform object recognition on the basis of the features extracted from a single image of the object. The problem with this approach is that it implicitly assumes that the...
Representation and Recognition of Free-Form Surfaces, (1998)
Delingette, Herve, Hebert, Martial, Ikeuchi, Katsushi
We introduce a new surface representation for recognizing curved objects. Our approach begins by representing an object by a discrete mesh of points built from range data or from a geometric model of...
Temporal Segmentation of Tasks from Human Hand Motion. (1998)
Kang, Sing B., Ikeuchi, Katsushi
This report describes work on the temporal segmentation of grasping task sequences based on human hand motion. The segmentation process results in the identification of motion breakpoints separating...
An Illumination Planner for Lambertian Polyhedral Objects. (1998)
Solomon, Fredric, Ikeuchi, Katsushi
The measurement of shape is a basic object inspection task. We use a noncontact method to determine shape called photometric stereo. The method uses three light sources which sequentially illuminate...
Reflectance Analysis Under Solar Illumination, (1998)
Sato, Yoichi, Ikeuchi, Katsushi
The paper describes reflectance analysis of real images taken in an outdoor environment. This is one of the first attempts for analyzing reflection in outdoor images. In the past, the fundamental...
An Illumination Planner for Convex and Concave Lambertian Polyhedral Objects. (1998)
Solomon, Fredic, Ikeuchi, Katsushi
The measurement of shape is a basic object inspection task. We use a noncontact method to determine shape called photometric stereo. The method uses three light sources which sequentially illuminate...
Partitioning Contact-State Space Using the Theory of Polyhedral Convex Cones. (1998)
Paul, George V., Ikeuchi, Katsushi
The assembly plan from observation (APO) system observes a human operator perform an assembly task, analyzes the observations, models the task, and generates the programs for the robot to perform the...
Spherical Representations: From EGI to SAI. (1998)
Ikeuchi, Katsushi, Hebert, Martial
One of the fundamental problems in representing a curved surface is how to define an intnnsic, i.e., viewer independent, coordinate system over a curved object surface. In order to establish point...
Shum, Heung-Yeung, Hebert, Martial, Ikeuchi, Katsushi
We present a novel approach to 3D shape synthesis of closed surfaces. A curved or polyhedral 3D object of genus zero is represented by a curvature distribution on a spherical mesh that has nearly...
On 3D Shape Similarity, (1998)
Shum, Heung-Yeung, Hebert, Martial, Ikeuchi, Katsushi
We study the 3D shape similarity between closed surfaces. We represent a curved or polyhedral 3D object of genus zero using a mesh representation that has nearly uniform distribution with known...
Recognition of the Multi Specularity Objects using the Eigen-Window, (1998)
Ohba, Kohtaro, Ikeuchi, Katsushi
This paper describes a method for recognizing partially occluded objects for bin picking tasks using the eigen space analysis. Although effective in recognizing an isolated object, as was shown by...
Basic Research in Computer Science: Image Understanding (1998)
Kanade, Takeo, Shafer, Steven, Ikeuchi, Katsushi
The CMU Image Understanding program performed basic research and technology development toward robust, flexible, and precise vision systems to impact a wide variety of military and civilian...
Consensus surfaces for modeling 3d objects from multiple range images (1998)
Mark D. Wheeler, Yoichi Sato, Katsushi Ikeuchi
In this paper, we present a robust method for creating a triangulated surface mesh from multiple range images. Our method merges a set of range images into a volumetric implicit-surface...
Consensus surfaces for modeling 3d objects from multiple range images (1998)
Mark D. Wheeler, Yoichi Sato, Katsushi Ikeuchi
In this paper, we present a robust method for creating a triangulated surface mesh from multiple range images. Our method merges a set of range images into a volumetric implicit-surface...
Consensus Surfaces for Modeling 3D Objects from Multiple Range Images (1998)
Mark D. Wheeler, Yoichi Sato, Katsushi Ikeuchi
In this paper, we present a robust method for creating a triangulated surface mesh from multiple range images. Our method merges a set of range images into a volumetric implicit-surface...
Eigen-Texture Method: Appearance Compression based on 3D Model (1998)
Ko Nishino, Yoichi Sato, Katsushi Ikeuchi
Image-based and model-based methods are two representative rendering methods for generating virtual images of objects from their real images. Extensive research on these two methods has been made in...
Consensus Surfaces for Modeling 3D Objects from Multiple Range Images (1998)
Mark D. Wheeler, Yoichi Sato, Katsushi Ikeuchi
In this paper, we present a robust method for creating a triangulated surface mesh from multiple range images. Our method merges a set of range images into a volumetric implicit-surface...
Consensus surfaces for modeling 3d objects from multiple range images (1998)
Mark D. Wheeler, Yoichi Sato, Katsushi Ikeuchi
In this paper, we present a robust method for creating a triangulated surface mesh from multiple range images. Our method merges a set of range images into a volumetric implicit-surface...
Consensus surfaces for modeling 3d objects from multiple range images (1998)
Mark D. Wheeler, Yoichi Sato, Katsushi Ikeuchi
In this paper, we present a robust method for creating a triangulated surface mesh from multiple range images. Our method merges a set of range images into a volumetric implicit-surface...
Task Planning of Assembly of Flexible Objects and Vision-Based (1998)
Verification Jun Miura, Katsushi Ikeuchi
The ability of manipulating flexible objects, such as rubber belts and paper sheets, is important in automated manufacturing systems. This paper describes a novel approach to vision-guided assembly...
Adaptive Model Based ATR System. (1997)
Ikeuchi, Katsushi, Collins, Robert, Shakunaga, Takeshi, Ohba, Khotara, Pomeleau, Dean
This project develops a SAR-ATR system that uses invariant histograms and deformable templates. An invariant histogram is a histogram of geometric invariants given by primitive feature sets....
Object Shape and Reflectance Modeling from Observation (1997)
Yoichi Sato Mark, Mark D. Wheeler, Katsushi Ikeuchi
An object model for computer graphics applications should contain two aspects of information: shape and reflectance properties of the object. A number of techniques have been developed for modeling...
Object Shape and Reflectance Modeling from Observation (1997)
Yoichi Sato, Mark D. Wheeler, Katsushi Ikeuchi
An object model for computer graphics applications should contain two aspects of information: shape and reflectance properties of the object. A number of techniques have been developed for modeling...
Sing Bing Kang, Katsushi Ikeuchi, Senior Member
Conventional methods for programming a robot either are inflexible or demand significant expertise. While the notion of automatic programming by high-level goal specification addresses these issues,...
Geometric and Dynamic Sensing: Observation of Pose and Motion through Contact (1997)
Yan-bin Jia, Matthew T. Mason, Katsushi Ikeuchi
Submitted inpartial ful llment of the requirements
Representing the Motion of Objects in Contact using Dual Quaternions and its Applications (1997)
George V Paul, Katsushi Ikeuchi
This report presents a general method for representing the motion of an object while maintaining contact with other fixed objects. The motivation for our work is the assembly plan from observation...
Modelling Planar Assembly Paths from Observation (1996)
George V Paul, Katsushi Ikeuchi
configuration space, contact states. This report describes a system for obtaining the compliant motion plan for a planar assembly task, given a sequence of observations of a human performing it. The...
Reflectance analysis for 3d computer graphics model generation (1996)
page 2 For synthesizing realistic images of a real three dimensional object, reflectance properties of the object surface, as well as the object shape, need to be measured. This paper describes one...
Heung-yeung Shum, Martial Hebert, Katsushi Ikeuchi
conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies or endorsements, either expressed or implied, of the Department of...
Recognition of the Multi Specularity Objects using the Eigen-Window (1996)
Kohtaro Ohba, Katsushi Ikeuchi
This paper describes a method for recognizing partially occluded objects for binpicking tasks using the eigen-space analysis. Although effective in recognizing an isolated object, as was shown by...
Hand Action Perception and Robot Instruction (1996)
Yunde Jiar, Mark Wheeler, Katsushi Ikeuchi
It is extremely popular and much more efficient way for teachers or instructors at school, work, or play, to teach their students a task just by demonstrating the task clearly in front of the...
Reflectance analysis for 3D computer graphics model generation (1996)
For synthesizing realistic images of a real three dimensional object, reflectance properties of the object surface, as well as the object shape, need to be measured. This paper describes one approach...
Recognition of the Multi Specularity Objects using the Eigen-Window (1996)
Kohtaro Ohba, Katsushi Ikeuchi
The views and conclusions contained in this document are those of the authors and should not be interpreted as representing
Reflectance analysis for 3d computer graphics model generation (1996)
page 2 For synthesizing realistic images of a real three dimensional object, reflectance properties of the object surface, as well as the object shape, need to be measured. This paper describes one...
Reflectance analysis for 3d computer graphics model generation (1996)
views and conclusions contained in this document are those of the authors and should not be interpreted
Heung-yeung Shum, Martial Hebert, Katsushi Ikeuchi
the official policies or endorsements, either expressed or implied, of the Department of the Army, or the U.S. government.
Heung-yeung Shum, Martial Hebert, Katsushi Ikeuchi
the official policies or endorsements, either expressed or implied, of the Department of the Army, or the U.S. government.
Hand Action Perception and Robot Instruction (1996)
Yunde Jiar, Mark Wheeler, Katsushi Ikeuchi
conclusions contained in this document are those of the authors and should not be interpreted as necessarily representing official policies or endorsements, either expressed or implied, of NSF, ARPA,...
Task-oriented generation of visual sensing strategies in assembly tasks (1995)
This paper describes a method of systematically generating visual sensing strategies based on knowledge of the assembly task to be performed. Since visual sensing is usually performed with limited...
Task-Oriented Generation of Visual Sensing Strategies (1995)
In vision-guided robotic operations, vision is used for extracting necessary information for achieving the task. Since visual sensing is usually performed with limited resources, visual sensing...
Heung-yeung Shum, Martial Hebert, Katsushi Ikeuchi
We study the 3D shape similarity between closed surfaces. We represent a curved or polyhedral 3D object of genus zero using a mesh representation that has nearly uniform distribution with known...
Task-Oriented Generation of Visual Sensing Strategies in Assembly Tasks (1995)
It is generally very difficult, if not impossible, for a robot to perform fine manipulation tasks without the benefit of some form of sensory feedback during actual task execution. As a result, robot...
Reflectance analysis for 3D computer graphics model generation (1995)
Y. Sato, Yoichi Sato, Katsushi Ikeuchi
For synthesizing realistic images of a real three dimensional object, reflectance properties of the object surface, as well as the object shape, need to be measured. This paper describes one approach...
Iterative Estimation of Rotation and Translation using the Quaternion (1995)
Mark D. Wheeler, Katsushi Ikeuchi
In this paper, we consider some practical issues when using the quaternion to represent rotation in conjunction with gradient- or Jacobian-based search algorithms. Iterative estimation techniques...
Martial Hebert, Katsushi Ikeuchi
We present a novel approach to 3D shape synthesis of closed surfaces. A curved or polyhedral 3D object of genus zero is represented by a curvature distribution on a spherical mesh that has nearly...
Martial Hebert, Katsushi Ikeuchi
We study the 3D shape similarity between closed surfaces. We represent a curved or polyhedral 3D object of genus zero using a mesh representation that has nearly uniform distribution with known...
Iterative Estimation of Rotation and Translation using the Quaternion (1995)
Mark Wheeler Katsushi, Mark D. Wheeler, Katsushi Ikeuchi
In this paper, we consider some practical issues when using the quaternion to represent rotation in conjunction with gradient- or Jacobian-based search algorithms. Iterative estimation techniques...
Generating Visual Sensing Strategies in Assembly Tasks (1995)
It is generally very difficult, if not impossible, for a robot to perform fine manipulation tasks without the benefit of some form of sensory feedback during actual task execution. As a result,...
Proc. IEEE 5th Int. Conf. on Computer Vision (1995)
Pp Cambridge Ma, Jun Miura, Katsushi Ikeuchi
In vision-guidedrobotic operations, vision is used for extracting necessary information for achieving the task. Since visual sensing is usually performed with limitedresources, visual sensing...
Iterative estimation of rotation and translation using the quaternion (1995)
Mark D. Wheeler, Katsushi Ikeuchi
In this paper, we consider some practical issues when using the quaternion to represent rotation in conjunction with gradient- or Jacobian-based search algorithms. Iterative estimation techniques...
Proc. 1995 IEEE Int. Conf. on Robotics and Automation (1995)
Pp Nagoya Japan, Jun Miura, Katsushi Ikeuchi
It is generally very difficult, if not impossible, for arobot to perform fine manipulation tasks without the benefit of some form of sensory feedback during actual task execution. As a result,...
Object Shape Morphing with Intermediate Reflectance Properties (1994)
Yoichi Sato, Imari Sato, Katsushi Ikeuchi
this paper, we consider a new approach for 3D shape and reflectance morphing of two real 3D objects. Our morphing method consists of two components: shape and reflectance property measurement, and...
Temporal-Color Space Analysis of Reflection (1994)
this paper is equivalent to their algorithm in the sense that two reflection components are separated by using their different colors. Two other techniques which have been used to analyze images are...
Partitioning Contact State Space Using the Theory of Polyhedral Convex Cones (1994)
George V Paul, Katsushi Ikeuchi
The assembly plan from observation (APO) system observes a human operator perform an assembly task, analyzes the observations, models the task, and generates the programs for the robot to perform the...
Temporal-color space analysis of reflection (1994)
The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the U.S. government.
Planning Multiple Observations for Object Recognition (1994)
Keith D. Gremban, Katsushi Ikeuchi
in this document are those of the authors and should not be interpreted as rcprcscnting thc
Combining Shape and Color Information For 3D Object Recognition (1993)
Kazunori Higuchi, Martial Hebert, Katsushi Ikeuchi
Both photometric and geometric information are important for 3D object recognition. Traditionally, however, few systems utilized both types of information. This is because no single representation is...
Appearance-based vision and the automatic generation of object recognition programs (1993)
Keith D. Gremban, Katsushi Ikeuchi
The generation of recognition programs by hand is a time-consuming, labor-intensive task that typically results in a special purpose program for the recogmtion of a single object or a small set of...
Combining shape and color information for 3d object recognition (1993)
Kazunori Higuchi, Martial Hebert, Katsushi Ikeuchi
The views and conclusions contained in this document are those of the authors and should not be interpreted
Why aspect graphs are not (yet) practical for computer vision (1992)
Faugeras, Olivier, Mundy, Joe, Ahuja, Narendra, Dyer, Charles, Pentland, Alex, Jain, Ramesh C, ...
A panel discussion on the theme of this report was organized for the 1991 IEEE Workshop on Directions in Automated CAD-Based Vision. This report contains the revised comments of the panel discussion...
Temporal-Color Space Analysis of Reflection (1992)
Y. Sato, Yoichi Sato, Katsushi Ikeuchi
We proposed a novel method to analyze a sequence of color images. A series of color images are examined in a four dimensional space, which we call the temporal-color space, whose axes are the three...
K.: A framework for recognizing grasps (1991)
Sing Bing Kang, Katsushi Ikeuchi
The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the U.S. government.
A Framework for Recognizing Grasps (1991)
Sing Bing Kang, Katsushi Ikeuchi
Many of the tasks that are potential candidates for automation involve grasping. We are interested in the programming of robots to perform grasping tasks. To do this, we propose the notion of...
K.: A framework for recognizing grasps (1991)
Sing Bing Kang, Katsushi Ikeuchi
The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the U.S. government.
A 3D-Object Reconstruction System Integrating Range-Image Processing and Rapid Prototyping (1990)
Carlos Cerrada, Katsushi Ikeuchi, Lee Weiss, Raj Reddy
under support of a MEC/Fulbright grant.
Shree K. Nayar, Katsushi Ikeuchi, Takeo Kanade
0 1990 Camegie Mellon University This research was supported in pan by Westinghouse Elecaic Corporation and in pan by DARPA under contract F33615-87-C-1499. She K. Nayar was supported by Wesunghouse
3-D Object Pose Determination Using Complex EGI (1990)
Sing Bing Kang, Katsushi Ikeuchi
This research was sponsored by DARPA under Contract F33615-87-C-1499. The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the...
Imari Sato, Yoichi Sato, Katsushi Ikeuchi
The image irradiance of a three-dimensional object is known to be the function of three components: the distribution of light sources, the shape, and reflectance of a real object surface. In the...
Yoshinori Kuno, Katsushi Ikeuchi, Takeo Kanade
Model-based vision by cooperative processing of evidence and hypotheses using configuration spaces
Extracting Shape and Reflectance of Lambertian, Specular, and Hybrid Surfaces (1988)
Shree K. Nayar, Katsushi Ikeuchi, Takeo Kanade
by DARPA under Contract F33615-87-C-1499. 1
Modeling sensor performance for model-based vision (1987)
Katsushi Ikeuchi, Takeo Kanade
The model-based vision requires object appearances in the computer. How 8n object appears in the image is a result of interaction between the object properties and the sensor characteristics. Thus,...
Katsushi Ikeuchi, H. Keith Nishihara, Shigemi Nagata
This paper describes a system which locates and grasps parts from a pile. The system uses photometric stereo and binocu-lar stereo as vision input tools. Photometric stereo is used to make surface...
Katsushi Ikeuchi, H. Keith Nishihara, Patrick Sobalvarro, Shigemi Nagata
This paper describes a system which locates and grasps parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to make surface...
Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System (1984)
Ikeuchi, Katsushi, Nishihara, Keith H., Horn, Berthold K.P., Sobalvarro, Patrick, Nagata, Shigemi
This paper describes a system which locates and grasps doughnut shaped parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to...
Determining Grasp Points Using Photometric Stereo and the PRISM Binocular Stereo System (1984)
Ikeuchi, Katsushi, Nishihara, Keith H., Horn, Berthold K.P., Sobalvarro, Patrick, Nagata, Shigemi
This paper describes a system which locates and grasps doughnut shaped parts from a pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used to...
Determining Grasp Points using Photometric Stereo and the PRISM Binocular Stereo System (1984)
Katsushi Ikeuchi, H. Keith Nishihara, Patrick Sobalvarro, Shigemi Nagata
This paper describes a system which locat. es and grasps doughnut shaped parts from a, pile. The system uses photometric stereo and binocular stereo as vision input tools. Photometric stereo is used...
Picking Parts out of a Bin (1983)
Horn, Berthold K.P., Ikeuchi, Katsushi
One of the remaining obstacles to the widespread application of industrial robots is their inability to deal with parts that are not precisely positioned. In the case of manual assembly, components...
Picking Parts out of a Bin (1983)
Horn, Berthold K.P., Ikeuchi, Katsushi
One of the remaining obstacles to the widespread application of industrial robots is their inability to deal with parts that are not precisely positioned. In the case of manual assembly, components...
Picking Up an Object from a Pile of Objects (1983)
Ikeuchi, Katsushi, Horn, Berthold K.P., Nagata, Shigemi, Callahan, Tom, Fein, Oded
This paper describes a hand-eye system we developed to perform the binpicking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric stereo...
Picking Up an Object from a Pile of Objects (1983)
Ikeuchi, Katsushi, Horn, Berthold K.P., Nagata, Shigemi, Callahan, Tom, Fein, Oded
This paper describes a hand-eye system we developed to perform the binpicking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric stereo...
Picking up an object from a pile of objects (1983)
Katsushi Ikeuchi, Shigemi Nagata, Tom Callahan, Oded Feingold
This paper describes a hand-eye system we developed to perform the binpicking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric stereo...
Constructing a Depth Map from Images (1983)
This paper describes two methods for constructing a depth map from images. Each methods has two stages. First, one or more needle maps are determined using a pair of images. This process employs...
Picking up an object from a pile of objects (1983)
Katsushi Ikeuchi, Shigemi Nagata, Tom Callahan, Oded Feirigold
This paper describes a hand-eye system we developed to perform the bin-picking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric...
Numerical Shape from Shading and Occluding Boundaries (1981)
An iterative method for computing shape from shading using occluding boundary information is proposed. Some applications of this method are shown. We employ the stereographic plane to express the...
Recognition of 3-d objects using the extended gaussian image (1981)
propose to use an extended Gaussian imap,e (EGI) for interpreting 2-1/2-D representations for recognition of 3-D objects. The EGI is constructed by mapping each surface normals of an object to the...
Numerical Shape from Shading and Occluding Contours in a Single View (1979)
This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided...
Numerical Shape from Shading and Occluding Contours in a Single View (1979)
This report describes research done at the Artificial Intelligence Laboratory of the Massachusetts Institute of Technology. Support for the laboratory's artificial intelligence research is provided...
An Application of the Photometric Stereo Method (1979)
Ikeuchi, Katsushi, Horn, Berthold K.P.
The orientation of patches on the surface of an object can be determined from multiple images taken with different illuminations, but from the same viewing position. This method, referred to as...
An Application of the Photometric Stereo Method (1979)
Ikeuchi, Katsushi, Horn, Berthold K.P.
The orientation of patches on the surface of an object can be determined from multiple images taken with different illuminations, but from the same viewing position. This method, referred to as...
An Application of the Photometric Stereo Method (1979)
The orientation of patches on the surface of an object can be determined from multiple images taken with different illumination, but from the same Viewing position. This method, referred to as...