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Publications

【学会誌/Journal論文】

  • H.Zhou, S.Sakane: "Sensor Planning for Mobile Robot Localization---A Hierarchical Approach Using a Bayesian Network and a Particle Filter," IEEE Transactions on Robotics, Vol.24, Issue 2, pp.481-487, 2008.

  • H.Zhou, S.Sakane: "Mobile robot localization using active sensing based on Bayesian network inference," Robotics and Autonomous Systems, Vol.55, Issue 4, pp.292-305, 2007.

  • 奥迫伸一,坂根茂幸:レーザレンジファインダを用いた移動ロボットによる人の追跡, 日本ロボット学会誌,Vol.24, No.5, pp.605-613, 2006.([PDF])

  • 周洪鈞,坂根茂幸:ベイジアンネットワークの構造学習と推論を用いた移動ロボット位置決めのためのセンサプラニング, 日本ロボット学会誌,Vol.22, No.2, pp.245-255, 2004. ([PDF])

  • 関和章,伊藤健,坂根茂幸:物の受け渡し行動のためのビューベースト・ステレオトラッキング,電気学会論文誌, Vol.123-C, No.4, pp.796-803, 2003. ([gzipped PS],[PDF])

  • Hongjun Zhou, Shigeyuki Sakane,"Sensor Planning for Mobile Robot Localization Using Bayesian Network Inference," Advanced Robotics, Vol.16, No.8, pp.751-771, 2002. ([gzipped PS], [PDF])

  • 伊藤,坂根:オクルージョンに対してロバストなビューベーストビジュアルトラッキング, 日本ロボット学会誌, Vol.19, No.8, pp.1018-1026, 2001. ([gzipped PS], [PDF])

  • 佐藤坂根:実空間にマークを投影するインタラクティブ・ハンドポインタの構成, 電気学会論文誌, Vol.121-C, No.9, pp.1464-1470, 2001. ([gzipped PS], [PDF])

  • 伊藤,坂根:アフィン変換テンプレート群の動的遷移に基づくビジュアルトラッキング, 日本ロボット学会誌, Vol.19, No.1, pp.100-108, 2001.([gzipped PS], [PDF] )

  • 寺島,坂根:拡張ディジタルデスクを用いたヒューマンロボットインタフェース, 日本ロボット学会誌,Vol.16, No.8, pp.1091-1098, 1998. ([gzipped PS], [PDF] )

  • E.Ono, N.Kita, S.Sakane: Unfolding folded fabric using outline information with vision and touch sensors, Journal of Robotics and Mechatronics, Vol.10, No.3, pp.235-243, 1998.

  • 小野,喜多,坂根:視触覚を用いた輪郭情報に基づく折れ重なった布生地の展開, 日本ロボット学会誌, Vol.15, No.2, pp.275-283, 1997.

  • S.Sakane,T.Kuruma,T.Omata,T.Sato: Planning focus of attention for multi-fingered hand with consideration of time-varying aspects, Computer Vision and Image Understanding, Academic Press, Vol.61, No.3, pp.445-453, 1995.

  • 坂根,小越,丸矢,佐藤,柿倉:三次元モデルベーストエージェントによる ロボット視覚の分散協調センシングシステム, 日本ロボット学会誌, Vol.13, No.11, pp.1169-1178, 1995. ([gzipped PS], [PDF])

  • 喜多, Rougeaux,S., 國吉, 坂根:仮想ホロプタを用いた実時間両眼追跡, 日本ロボット学会誌, Vol.13, No.5, pp.683-690, 1995.

  • 坂根,石川,佐藤:視覚と力覚のセンサフュージョンによる把持物体の接触位置の推定, 日本ロボット学会誌, Vol.12, No.5, pp.677-684, 1994.

  • 坂根,車,小俣,佐藤:見え方の時系列変化を考慮した注視行動計画−遺伝的アルゴリズムを用いた最適化−, 計測自動制御学会論文集, Vol.28, No.9, pp.1111-1117, 1992.

  • S.Sakane, R.Niepold, T.Sato, and Y.Shirai: Illumination planning for a hand-eye system based on an environmental model, Advanced Robotics, Vol.6, No.4, pp.461-482, 1992.

  • S.Sakane, T.Sato, and M.Kakikura: Setup planning of active visual sensing for autonomous robots, Journal of Robotics and Mechatronics, Vol.3, No.3, pp.196-200, 1991.

  • 坂根,佐藤,柿倉,外川:能動的照度差ステレオシステムのための光源配置プラニン, 計測自動制御学会論文集, Vol.26, No.10, pp.1201-1208, 1990.

  • 坂根,R.Niepold,佐藤,白井:環境モデルに基づくハンドアイシステムの照明設定プラニング, 日本ロボット学会誌, Vol.7, No.3, pp.130-141,1989.

  • 石井,坂根,柿倉,三上:3次元モデルに基づくロボットシステムのためのマニピュレータ・キャリブレーション, 日本ロボット学会誌, Vol.7, No.2,pp.182-191, 1989.

  • 坂根,佐藤,柿倉:視覚フィードバック制御の注視行動プラニング, 計測自動制御学会論文集, Vol.24, No.6, pp.608-615, 1988.

  • S.Sakane, M.Ishii, and M.Kakikura: Occlusion avoidance of visual sensors based on a hand-eye action simulator system: HEAVEN, Advanced Robotics, Vol.2, No.2, pp.149-165, 1987.

  • M.Ishii, S.Sakane, M.Kakikura, and Y.Mikami: A 3-D sensor system for teaching robot paths and environments, The International Journal of Robotics Research, Vol.6, No.2, pp.45-59, 1987.

  • 坂根,石井,柿倉:ハンドアイ行動シミュレータ:HEAVENシステムに基づく視覚センサのオクルージョン回避, 日本ロボット学会誌, Vol.4, No.4,pp.382-392, 1986.

  • 坂根,石井,柿倉:視覚センサのオフラインプログラミングを支援するハンドアイシミュレータ,  計測自動制御学会論文集, Vol.22, No.2, pp.183-190, 1986.

  • M.Ishii, S.Sakane, M.Kakikura, and Y.Mikami: A new calibration system for improving absolute positioning accuracy of robot manipulators, Journal of Robotics Systems, Vol.4, No.1, pp.145-156, 1986.

  • 石井,坂根,柿倉,三上:3次元位置・姿勢センサのロボットへの応用, 計測自動制御学会論文集, Vol.21, No.4, pp.87-94, 1985.

  • H.Tamura, S.Sakane, F.Tomita, N.Yokoya, M.Kaneko, and K.Sakaue: Design and implementation of SPIDER - A transportable image processing softwarepackage, Computer Vision, Graphics and Image Processing, Vol.23,pp.273-294, 1983.

  • 田村,坂根,富田,横矢,金子,坂上:ポータブル画像処理ソフトウエア・パッケージ SPIDER の開発, 情報処理学会論文誌, 第23巻, 第3号, pp.321-328, 1982.

【国際会議論文】

  • H. Zhou, S.Sakane, ``Sensor Planning for Mobile Robot Localization - A hierarchical approach using Bayesian network and particle filter -,'' Proc. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1270-1276, 2005.8.

  • H. Zhou, S.Sakane, ``Sensor Planning for Mobile Robot Localization - A hierarchical approach using Bayesian network and particle filter -,'' Proc. 2004 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO 2004), 2004.8.

  • H. Zhou, S. Sakane, ``Sensor planning and Bayesian network structure learning for mobile robot localization,'' IEEE Int. Conf. on Robotics, Intelligent Systems and Signal Processing, 507-512, 2003.10.

  • H. Zhou, S. Sakane, ``Learning Bayesian Network Structure from Environment and Sensor Planning for Mobile Robot Localization,'' Proc. 2003 IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI2003), pp.76-81, 2003.7

  • H. Zhou, S. Sakane, ``Sensor Planning for Mobile Robot Localization using Bayesian Network Representation and Inference,'' Proc. 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.440-446, 2002.10. ([gzipped PS], [PDF])

  • H.Zhou, S.Sakane, ``Sensor planning for mobile robot localization based on probabilistic inference using Bayesian network,'' Proc. Int. Symposium on Assembly and Task Plannings (ISATP2001), pp.7-12, 2001.([gzipped PS], [PDF])

  • K.Ito, S.Sakane, ``Robust view-based visual tracking with detection of occlusions,'' Proc. IEEE Int. Conf. Robotics and Automation, pp.1207-1213, 2001.([gzipped PS], [PDF])

  • M.Yamashita, S.Sakane, ``Adaptive annotation using a human-robot interface system PARTNER,'' Proc. IEEE Int. Conf. Robotics and Automation, pp.2661-2667, 2001. ([gzipped PS], [PDF])

  • K.Ito, S.Sakane, ``Visual tracking using dynamic transition in groups of affine transformed templates,'' Proc. 2000 IEEE Int. Conf. Robotics and Automation, pp.2082-2087, 2000. ([gzipped PS], [PDF] )

  • S.Sato, S.Sakane, ``A human-robot interface using an interactive hand pointer that projects a mark in the real work space,'' Proc. 2000 IEEE Int. Conf. Robotics and Automation, pp.589-595, 2000.([gzipped PS], [PDF] )

  • M.Terashima, S.Sakane, ``A Human-Robot Interface Using an Extended Digital Desk,'' Proc. IEEE Int. Conf. Robotics and Automation, pp. 2874-2880, 1999. ([gzipped PS], [PDF] )

  • T.Ishikawa, S.Sakane, T.Sato, H.Tsukune, ``Estimation of contact position between a grasped object and the environment based on sensor fusion of vision and force'' Proc. of IEEE/SICE/RSJ Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI'96), pp.116-123, 1996.

  • E.Ono, N.Kita, S.Sakane, ``Strategy for unfolding a fabric piece by cooperative sensing of touch and vision ,'' Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS'95), pp.441-445 1995.

  • T.Matsui, S.Sakane, H.Hirukawa,``Geometric programming facilities of EusLisp and assembly goal planner,'' Proc. of 2nd Specialists' Meeting on Application of Artificial Intelligence and Robotics to Nuclear Plants (AIR'94), pp.21-32, 1994.

  • S.Rougeaux, N.Kita, Y.Kuniyoshi, S.Sakane, F.Chavand,``Binocular tracking based on virtual horopters'' Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS'94), pp.2052-2057, 1994.

  • Y.Kuniyoshi, J.Riekki, M.Ishii, S.Rougeaux, N.Kita, S.Sakane, M.Kakikura, ``Vision-based behaviors for multi-robot cooperation'' Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS'94), pp.925-932, 1994.

  • Y.Kuniyoshi, S.Rougeaux, M.Ishii, N.Kita, S.Sakane, M.Kakikura,``Cooperation by observation -The framework and basic task patterns-'' Proc. of IEEE Int. Conf. on Robotics and Automation, pp.767-774, 1994.

  • S.Sakane,T.Kuruma,T.Omata,T.Sato, ``Planning focus of attention for multi-fingered hand with consideration of time-varying aspects,'' Proc. of IEEE 2nd CAD-Based Vision Workshop, pp.151-160, 1994.

  • T.Matsushita,S.Sakane,T.Heikkila,P.Vaha,``A concept of rule-based planning and execution system for sensor-guided manipulation,'' Proc. of IEEE International Conference on Intelligent Robots and Systems (IROS'93), pp.414-419, 1993.

  • S.Sakane,T.Sato,H.Okoshi,M.Kakikura,``A distributed sensing system with 3D model-based agents,'' Proc. of IEEE International Conference on Intelligent Robots and Systems (IROS'93), pp.1157-1163, 1993.

  • S.Sakane and T.Sato,``Sensor setup planning for active vision systems,'' Proc. of International Symposium on Measurement and Control in Robotics (ISMCR'92), pp.139-146,1992.

  • S.Sakane,T.Sato,H.Maruya,H.Okoshi,N.Nakamura,and M.Kakikura,``A decentralized and cooperative sensing system for robot vision, ''Proc. of 23rd International Symposium on Industrial Robots (ISIR), pp.151-156, 1992.

  • S.Sakane and T.Sato, ``A planning system for light source and camera placement in active photometric sensing, '' Proc. of Specialists'Meeting on Application of Artificial Intelligence and Robotics to Nuclear Plants (AIR'92), pp.154-163 1992.

  • S.Sakane and T.Sato, ``Automatic planning of light source and camera placement for an active photometric stereo system, ''Proc. of the 1991 IEEE International Conference on Robotics and Automation, pp.1080-1087, 1991.

  • T.Sato, T.Matsushita, S.Sakane, S.Hirai, M.Kakikura, ``A Model based Hand-Eye System with Cooperative Hand-Eye Programming and Active Vision Sensing,'' Proc. of the International Symposium on Advanced Robot Technology ('91ISART), pp.255-262, 1991.

  • T.Matsushita, S.Sakane, S.Hirai, T.Sato, and M.Kakikura, `` A System bfor Autonomous Execution of Hand-Eye Tasks - An Approach to Cooperative Hand-Eye Programming and Active Vision Sensing, '' Proc. of the International Workshop on Intelligent Robots and Systems(IROS'90), pp.575-582, 1990.

  • S.Sakane, T.Sato, and M.Kakikura, `` Automatic Planning of Light Source Placement for an Active Photometric Stereo System,'' Proc. of the International Workshop on Intelligent Robots and Systems (IROS'90), pp.559-566, 1990.

  • M.Ishii, S.Sakane, M.Kakikura, and Y.Mikami, ``Kinematic calibration of a robot manipulator for integrated robot systems,'' Proc. of 20th International Symposium on Industrial Robots, pp.993-1000, 1989.

  • S.Sakane, T.Sato, and M.Kakikura, ``Development of an active vision planning engine towards autonomous hand-eye coordination,'' Proc. of 20th International Symposium on Industrial Robots (ISIR), pp.103-110, 1989.

  • M.Ishii, S.Sakane, M.Kakikura and Y.Mikami, ``Kinematic modeling and calibration for a direct drive manipulator,'' Proc. IEEE Workshop on Intelligent Robots and Systems (IROS'88),pp.111-116, 1988.

  • S.Sakane, T.Sato, and M.Kakikura, ``Model-based planning of visual sensors using a hand-eye action simulator system: HEAVEN,'' Proc. of 3rd International Conference on Advanced Robotics, Versailles, pp.163-174, 1987.

  • R.Niepold, S.Sakane, T.Sato, and Y.Shirai, ``Vision sensor set-up planning for a hand-eye system using environmental model,'' Proc. SICE'87 (26th annual conference of the Society of Instrument and Control Engineers of Japan '87), pp.1037-1041, 1987.

  • M.Ishii, S.Sakane, Y.Mikami, and M.Kakikura, ``Teaching robot operations and environments by using a 3-D visual sensor system,'' Proc. of International Conference on Autonomous Systems, Amsterdam, pp.283-289, 1986.

  • M.Ishii, S.Sakane, M.Kakikura, Y.Mikami, ``A new calibration system for improving absolute positioning accuracy of robot manipulators,'' Proc. of 16th International Symposium on Industrial Robots, pp.1071-1025, 1986.

  • S.Sakane, M.Ishii, and M.Kakikura, ``Hand-eye simulator: A basic tool for off-line programming of visual sensors,'' Proc. of 2nd International Conference on Advanced Robotics (ICAR), pp.103-110, 1985.

  • M.Ishii, S.Sakane, M.Kakikura, and Y.Mikami, ``A new 3-D sensor for teaching robot paths and environments,'' Proc. of 4th Conf. on Robot Vision and Sensory Control, London, pp.155-164, 1984.

  • H.Tamura, F.Tomita, S.Sakane, N.Yokoya, K.Sakaue, and M.Kaneko, ``A transportable image processing software package: SPIDER,'' Proc. of 6th International Joint Conference on Pattern Recognition, pp.75-78, 1982.

  • S.Sakane, ``An algorithm for scale invarint segment-matching and its application to a silhouette matching problem,'' Proc. of Canadian Man-Computer Communication Society Conference (CMCCS'81), pp.31-34, Waterloo,1981.

  • S.Sakane, ``An algorithm for scale invariant segment-matching,'' Proc.of IEEE Computer Society Conference on Pattern Recognition and Image Processing (PRIP'81), Dallas, pp.565-571, Aug. 1981.

【著書】

  • 知能ロボット-次世代のロボット技術(オーム社), 1984(共著)

  • 自律分散をめざすロボットシステム (オーム社), 1995(共著)


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