豊橋技術科学大学

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Miura, Jun

Affiliation Department of Computer Science and Engineering
Title Professor
Fields of Research Intelligent Robotics / Robot Vision / Artificial Intelligence
Degree Doctor of Engineering (The University of Tokyo)
Academic Societies IEEE / AAAI / Robotics Society of Japan / Japanese Society of Artificial Intelligence / Information Processing Society of Japan / Institute of Electrical, Information, and Communication Engineers / Japanese Society of Mechanical Engineering
E-mail jun.miura@
Please append "tut.jp" to the end of the address above.
Laboratory website URL http://www.aisl.cs.tut.ac.jp/
Researcher information URL(researchmap) Researcher information

Research

知能ロボットなど,複雑な環境下で自律的に行動できる知能システムを研究しています.カメラや距離センサなどで環境を認識したり,状況に応じて臨機応変に行動を計画したりするための高度な情報処理が,知能システム実現の鍵です.

Theme1:Vision-based mobile robots

Overview
On-line mapping, person detection, and path planning

We have been developing autonomous mobile robots with scene recognition and motion planning capabilities, performing service tasks such as guiding and attending. Research topics are: human detection and tracking, localization and mapping, exploration planning, and on-line path planning. All such functions are implemented as software modules, called RT components running on a modularized software development environment, RT-middleware.

Recent publications:
I. Ardiyanto and J. Miura. "Partial Least Squares-based Human Upper Body Orientation Estimation with Combined Detection and Tracking", Image and Vision Computing, Vol. 32, No. 11, pp. 904-915, 2014.
I. Ardiyanto and J. Miura. "Real-time Navigation using Randomized Kinodynamic Planning with Arrival Time Field", Robotics and Autonomous Systems, Vol. 60, No. 12, pp. 1579-1591, 2012.
A. Shigemura, Y. Ishikawa, J. Miura, and J. Satake. "An RT Component for Simulating People Movement in Public Space and Its Application to Robot Motion Planner Development", J. of Robotics and Mechatronics, Vol. 24, No. 1, pp. 165-173, 2012.

Theme2:Outdoor navigation

Overview
Autonomous outdoor mobile robot

We have been developing autonomous robots that can move in various outdoor environments. Outdoor navigation is composed of "global navigation" which determines the route based on localization and "local navigation" which generates a safe path based on the recognition of local scenes. We have developed a view-based localization method for the global navigation and a multisensory road boundary detection method for the local navigation.

Recent publications:
K. Matsuo and J. Miura, "Outdoor Visual Localization with a Hand-drawn Line Drawing Map using FastSLAM with PSO-based Mapping", Proc. 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 202-207, Vilamoura, Algarve, Portugal, Oct. 2012.
T. Chiku and J. Miura, "On-line Road Boundary Estimation by Switching Multiple Road Models using Visual Features from a Stereo Camera", Proc. 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4939-4944, Vilamoura, Algarve, Portugal, Oct. 2012.
Y. Matsushita, J. Miura. "On-Line Road Boundary Modeling with Multiple Sensory Features, Flexible Road Model, and Particle Filter", Robotics and Autonomous Systems, Vol. 59, No. 5, pp. 274-284, 2011.

Theme3:Human-robot collaborative task

Overview
Object recognition and manipulation by a Humanoid with vision

We have been working on teaching and execution of human-robot collaborative tasks. Topics include programming by demonstration (PbD) for collaborative assembly tasks, task representation for coordinating human and robot actions, intuitive instruction of robot movement, and implementation of basic skills for object recognition and manipulation.

Recent publications:
H. Goto, J. Miura, and J. Sugiyama, "Human-Robot Collaborative Assembly by On-line Human Action Recognition Based on an FSM Task Model", Proc. HRI2013 Workshop on Collaborative Manipulation, 2013.
J. Sugiyama and J. Miura, "A Wearable Robot Control Interface based on Measurement of Human Body Motion using a Camera and Inertial Sensors", Proc. 2011 IEEE Int. Conf. on Robotics and Biomimetics, pp. 565-570, 2011.
J. Miura and Y. Nishimura, "Co-Development of Task Models through Robot-Human Interaction", Proc. 2007 Int. Conf. on Robotics and Biomimetics, pp. 640-645, Sanya, China, Dec. 2007.

Title of class

Introduction to Logic Circuits (B13530040) / Logic Circuit Design (B13621010) / Systems Analysis (B01421570) / Advanced Robotics and Informatics I (M23620020)


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