研究者詳細 - 河口　信夫

論文 - 河口　信夫

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異種空間間のコミュニケーションを実現するロボット型メタポータルMetaPoにおけるロボットハンド・インタラクション Open Access

渡辺圭貴, 林田望海, 浦野健太, 米澤拓郎, 河口信夫

インタラクション2023 2023年3月

自律ネットワークにつながる自律移動ロボットを用いる映像サービス実現に向けた初期プロトタイプの開発

髙橋美乃里, 山本秀樹, 岩下将人, 金田悠作, Leon Wong, 浦野健太, 米澤拓郎, 河口信夫

電子情報通信学会　総合大会 2023年3月

Coordinated autonomous networks for remote synchronized video services with the autonomous mobility robots - prelude implementation 査読有り

Yamamoto, HH; Iwashita, M; Kondo, N; Wong, L; Kaneta, Y; Urano, K; Yonezawa, T; Kawaguchi, N

2023 INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE IN INFORMATION AND COMMUNICATION, ICAIIC 頁： 598 - 601 2023年2月

A Survey of Ground Truth Measurement Systems for Indoor Positioning 査読有り

Yoshida T., Kaji K., Ogiso S., Ichikari R., Uchiyama H., Kurata T., Kawaguchi N.

Journal of Information Processing 31 巻 ( 0 ) 頁： 15 - 20 2023年1月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Journal of Information Processing

Various types of indoor positioning methods have been proposed. Accordingly, various ground-truth measurement methods have also been used. The selection of the ground-truth measurement method is crucial when appropriately evaluating the indoor positioning methods. In recent years, data-driven methods have been actively proposed, making the ground-truth measurement even more critical. Most existing survey papers only focus on classifying indoor positioning methods and datasets for evaluation. Our survey paper investigates the methods to measure the ground truth. First, we list the primary examples of ground truth measurement systems and summarize their characteristics, such as the scale, accuracy, and frequency when collecting ground truth. Then, we classify them into the following five categories: OMC, ToF/MFPS, SLAM, Manual, and Others. Their advantages and disadvantages are also discussed based on four indices: accuracy, coverage, device cost, and labor cost. Finally, we discuss the appropriate way to select the ground-truth measurement system for quantitative evaluation. Our survey will be the guideline for selecting an appropriate ground-truth measurement system for indoor positioning and indoor navigation.

DOI： 10.2197/ipsjjip.31.15

Scopus

CiNii Research

XR Communication System for Remote Control Wheelchairs 査読有り

Hironori Shimosato, Nozomi Hayashida, Kenta Urano, Takuro Yonezawa, Nobuo Kawaguchi

IoT '22: Proceedings of the 12th International Conference on the Internet of Things 頁： 219 - 223 2022年11月

テキスト対話システムにおける感情制御を伴う応答生成手法

片山晋, 米澤拓郎, 河口信夫

知能と情報 34 巻 ( 3 ) 頁： 568 - 578 2022年8月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：日本知能情報ファジィ学会

<p>感情を扱う対話システムはユーザの満足度向上や肯定的なインタラクション増加の効果が認められており，人間に寄り添うデジタルパートナーとしての役割が期待されている．対話システムがユーザの感情を認識し，対話システム自身の感情を表現するためには，対話の文脈から適切な感情を選択する感情制御が不可欠である．本研究では，応答時の適切な感情を推定する感情制御を伴うテキスト応答生成フレームワークを提案する．提案手法はユーザの発話テキストにおける意味的文脈と感情的文脈を考慮することで応答時の適切な感情を推定し，感情表現を含んだ応答テキストをニューラルネットワークを用いて生成する．実験では，対話生成の品質に対する評価指標を用いた自動評価と，クラウドソーシングサイトを用いて集めた100人の被験者による人手評価を行い，提案手法の有効性を示した．</p>

DOI： 10.3156/jsoft.34.3_568

CiNii Research

法令間の関係を利用したモビリティ関連法令検索に関する一考察

駒水孝裕, 外山勝彦, 河口信夫, 佐野智也

人工知能学会第二種研究会資料 2022 巻 ( SWO-057 ) 頁： 04 2022年8月

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：一般社団法人人工知能学会

本稿では，法令間の関係を用いた法令検索について述べる．特に，モビリティに関連する法令を対象として，その検索方法および検索結果を示す．法令データのオープンデータ化は徐々に進みつつある．これまでに，法令オープンデータのハブとなる法令の Linked Open Data (LOD) としてのデータ化をはじめに，種々の法令文書，国会での会議録や議案に関するデータのオープン化が進められてきた．一方で，その応用については十分に研究されていない．本稿では，モビリティを題材に，関連する法令を検索する方法について示す．具体的には，法令に関する LOD から法令間の関係を抽出し，グラフにおける検索技術であるPersonalized PageRank を用いて，関連法令を検索する．この検索を通して，現状の法令オープンデータの限界を明らかにするとともに，今後の展開について議論する．

DOI： 10.11517/jsaisigtwo.2022.swo-057_04

CiNii Research

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MetaPo: A Robotic Meta Portal for Interspace Communication 査読有り

Yonezawa T., Hayashida N., Przybilla J., Kyono Y., Urano K., Kawaguchi N.

Proceedings - SIGGRAPH 2022 Posters 2022年7月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Proceedings - SIGGRAPH 2022 Posters

We introduce MetaPo, a mobile robot with spheric display, 360° media I/O and robotic hands for creating a unified model of interspace communication. MetaPo works as a portal between pairs of physical-physical, cyber-cyber and cyber-physical spaces to provide 1) panoramic communication for multiple remote users, and 2) immersive interspace migration with mobility functionality. The paper overviews our concept and first prototype of MetaPo with its hardware and software implementation.

DOI： 10.1145/3532719.3543255

Scopus

Smartphone Localization with Solar-Powered BLE Beacons in Warehouse 査読有り

Kano Kazuma, Yoshida Takuto, Hayashida Nozomi, Asai Yusuke, Matsuyama Hitoshi, Katayama Shin, Urano Kenta, Yonezawa Takuro, Kawaguchi Nobuo

DISTRIBUTED, AMBIENT AND PERVASIVE INTERACTIONS, SMART ENVIRONMENTS, ECOSYSTEMS, AND CITIES 13325 巻頁： 291 - 310 2022年6月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Workloads in logistics warehouses have been increasing to meet growing demand, and a labor shortage has become a problem. Utilizing information of laborer locations leads to an increase in productivity. We propose an integrated positioning method using solar-powered Bluetooth Low Energy (BLE) beacons. They are easy to install and maintenance-free since they can work without power sources. However, their advertisement interval depends on illuminance and is unstable. Moreover, there are many obstructions in warehouses, such as shelves and products, which cause signal attenuation, interference, and packet losses. We apply particle filters, map matching, and speed prediction with a neural network model to improve robustness and accuracy. We installed 94 beacons in a logistics warehouse. We evaluated the accuracy and found that our method is more accurate than a baseline method.

DOI： 10.1007/978-3-031-05463-1_21

Web of Science

Scopus

Time-Sensitive Cooperative Perception for Real-Time Data Sharing over Vehicular Communications: Overview, Challenges, and Future Directions 招待有り査読有り国際共著

Shunsuke Aoki, Takuro Yonezawa, Nobuo Kawaguchi, Peter Steenkiste, Ragunathan Raj Rajkumar

IEEE Internet of Things Magazine 2022年6月

大規模屋外施設におけるWi-Fiパケットセンサへの影響と利活用の検証査読有り Open Access

村井大地, 浦野健太, 望月祐洋, 米澤拓郎, 西田純二, 河口信夫

情報処理学会デジタルプラクティス 3 巻 ( 2 ) 頁： 12 - 21 2022年4月

機械学習による慣性センサを用いた転倒動作検知に関する研究

東浦圭亮，吉田拓人，加納一馬，瀧上昂希，山口公平，浦野健太，青木俊介，米澤拓郎，河口信夫

社会システムと情報技術研究ウィーク (WSSIT2022) 2022年3月

RobotNEST: Toward a Viable Testbed for IoT-Enabled Environments and Connected and Autonomous Robots 査読有り

Aoki Shunsuke, Yonezawa Takuro, Kawaguchi Nobuo

IEEE SENSORS LETTERS 6 巻 ( 2 ) 2022年1月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Sensors Letters

Autonomous mobile robots (AMRs), including delivery robots, security robots, and automated wheelchairs, are very promising for improving the quality of life, safety, mobility, and productivity. To deploy such sensor-rich AMRs in real-world society, we have to resolve not only technical challenges but also ethical and societal issues. In addition, since multiple companies are developing different types of AMRs individually, we have to design and develop practical platform to enable safe cooperation and collaboration before using them in the society. Hence, in this letter, we present a viable Nagoya Experimental Site and Testbed named <italic>RobotNEST</italic> developed at Nagoya City, Japan, where we leverage vehicular communications and edge/cloud computing technologies to develop cooperative mobile robots. RobotNEST provides real-world AMRs, experimental fields, learning kits, and infrastructural sensors and communications, including 5G private networks. We also introduce multiple developed applications at RobotNEST that enable safe cooperation for autonomous robots. Finally, we discuss the scalability and limitations of the testbed and conclude with future research directions.

DOI： 10.1109/LSENS.2021.3139624

Web of Science

Scopus

Synthetic People Flow: Privacy-Preserving Mobility Modeling from Large-Scale Location Data in Urban Areas 査読有り

Tamura N., Urano K., Aoki S., Yonezawa T., Kawaguchi N.

Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering, LNICST 419 LNICST 巻頁： 553 - 567 2022年

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering, LNICST

Recently, there has been an increasing demand for traffic simulation and congestion prediction for urban planning, especially for infection simulation due to the Covid-19 epidemic. On the other hand, the widespread use of wearable devices has made it possible to collect a large amount of user location history with high accuracy, and it is expected that this data will be used for simulation. However, it is difficult to collect location histories for the entire population of a city, and detailed data that can reproduce trajectories is expensive. In addition, such personal location histories contain private information such as addresses and workplaces, which restricts the use of raw data. This paper proposes Agent2Vec, a mobility modeling model based on unsupervised learning. Using this method, we generate synthetic human flow data without personal information.

DOI： 10.1007/978-3-030-94822-1_36

Scopus

A Data-Driven Approach for Online Pre-impact Fall Detection with Wearable Devices 査読有り

Yoshida Takuto, Kano Kazuma, Higashiura Keisuke, Yamaguchi Kohei, Takigami Koki, Urano Kenta, Aoki Shunsuke, Yonezawa Takuro, Kawaguchi Nobuo

SENSOR- AND VIDEO-BASED ACTIVITY AND BEHAVIOR COMPUTING, ABC 2021 291 巻頁： 133 - 147 2022年

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Smart Innovation, Systems and Technologies

The implementation of wearable airbags to prevent fall injuries depends on accurate pre-impact fall detection and a clear distinction between activities of daily living (ADL) and them. We propose a novel pre-impact fall detection algorithm that is robust against ambiguous falling activities. We present a data-driven approach to estimate the fall risk from acceleration and angular velocity features and use thresholding techniques to robustly detect a fall before impact. In the experiment, we collect simulated fall data from subjects wearing an inertial sensor on their waist. As a result, we succeeded in significantly improving the accuracy of fall detection from 50.00 to 96.88%, the recall from 18.75 to 93.75%, and the specificity 81.25 to 100.00% over the baseline method.

DOI： 10.1007/978-981-19-0361-8_8

Web of Science

Scopus

大規模移動履歴に基づく滞在推定結果を用いた公園の滞在特徴の分類手法 Open Access

河口信夫

情報処理学会第104回MBL研究会 2022-MBL-104 巻頁： 1 - 6 2022年

物流倉庫における人・配送ロボット協調のためのセンサ統合システム Open Access

河口信夫

情報処理学会研究報告 (MBL) 2022-MBL-104 巻頁： 1 - 8 2022年

3次元LiDARを搭載した自律走行ロボットを用いたWi-Fi電波強度および通信速度測定システム

盛下泰暉, 浅井悠佑, 浦野健太, 米澤拓郎, 河口信夫

情報処理学会研究報告 2021-MBL-101 巻 ( 34 ) 頁： 1 - 6 2021年12月

スマートメータを利用した行動認識のための電気使用量クラスタリングに関する検討

深谷暢也，浦野健太，青木俊介, 米澤拓郎, 河口信夫

令和3年度電気・電子・情報関係学会東海支部連合 2021年9月

How to monitor multiple autonomous vehicles remotely with few observers: An active management method

Ding M., Takeuchi E., Ishiguro Y., Ninomiya Y., Kawaguchi N., Takeda K.

IEEE Intelligent Vehicles Symposium, Proceedings 2021-July 巻頁： 1168 - 1173 2021年7月

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE Intelligent Vehicles Symposium, Proceedings

In this research, we proposed an active management method to tele-monitor and tele-operate more autonomous vehicles (AVs) with few observers by adjusting the movement of the AVs actively. A management system is created to get the status from the AVs and separate the monitoring requirement to the observers optimally. When the requirements might be intensive, the management system can also adjust the movements of the AVs actively to distribute the monitoring time, which can make the observers monitor more vehicles. We implement and verify the management system in an autonomous driving simulator - CARLA for the limited number of AVs and observers. Based on the data acquired from the driving simulator, we also create a numerical simulator and tested our method with the pairs of a large number of AVs and observers. The result of both simulators shows that our method can reduce the utilization degree of observers and make them monitor more AVs.

DOI： 10.1109/IV48863.2021.9575997

Scopus

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