Publications

2025　2024　2023　2022　2021　2020　2019　2018　2017　2016　2015　2014　2013　2012　2011　2010　2009　2008　2007　2006　2005　2004　2003　2002　2001　2000　1999　1998　1997　1996　1995　1994　1993以前

2025

Academic Paper

• Masae Yokota, Soichiro Majima, Sarthak Pathak and Kazunori Umeda：

“Unconstrained Home Appliance Operation by Detecting Pointing Gestures from Multiple Camera Views,”
Journal of Robotics and Mechatronics, Vol. 37, No. 2, pp.500-509, 2025.4. doi: 10.20965/jrm.2025.p0500
Link：https://doi.org/10.20965/jrm.2025.p0500

• Masae Yokota, Soichiro Majima, Yushin Mochizuki, Sarthak Pathak and Kazunori Umeda：

“Home Appliance Operation via 3D Keypoint Based Gesture Detection in Body-Relative Command Spaces,”
International Journal of Automation Technology, Vol. 19, No. 3, pp.216-225, 2025.5. doi: 10.20965/ijat.2025.p0216
Link：https://doi.org/10.20965/ijat.2025.p0216

International Conference

• Hikaru Suzuki, Alessandro Moro, Sarthak Pathak, Kazunori Umeda：
  "Automatic Sewing Pattern Generation from Garment Images Using Segmentation and Conditional GANs",
  Proc. 2026 IEEE/SICE International Symposium on System Integration (SII2026), p.793-798, 2026.1.
  Link：ieeexplore.ieee.org/document/11404641 

• Yuki Fujita, Sarthak Pathak, Alessandro Moro, Yuki Nagase, Hiroaki Suzuki, Keiichiro Koiwai, Kazunori Umeda：
  "Toward Robot-Assisted Classification and Selective Picking of V. harveyi and Soil Bacteria via Motility Analysis of Inverted Microscope Videos Using XGBoost",
  Proc. 2026 IEEE/SICE International Symposium on System Integration (SII2026), p.800-805, 2026.1.
  Link：ieeexplore.ieee.org/document/11404650 

• Hikaru Chikugo, Jonoshin Shiino, Sarthak Pathak, Kazunori Umeda：
  "Road Surface Estimation and Obstacle Detection Using Fisheye Stereo Camera and Monocular Depth Estimation",
  Proc. 2026 IEEE/SICE International Symposium on System Integration (SII2026), p.936-941, 2026.1.
  Link：ieeexplore.ieee.org/document/11404498 

• Yushin Mochizuki, Sarthak Pathak, Kazunori Umeda：
  "A Device Control System Using User-Defined Full-Body Gestures with HoloLens2",
  Proc. 2026 IEEE/SICE International Symposium on System Integration (SII2026), p.1099-1104, 2026.1.
  Link：ieeexplore.ieee.org/document/11404456 

• H. Suzuki, K. Miura, A. Moro, S. Pathak, and K. Umeda：

“Realistic sewing pattern generation and dataset construction for GAN-based fashion synthesis,”
Proc. The 2025 SICE Festival with Annual Conference (SICE FES), 2025. 

Link：ieeexplore.ieee.org/document/11236599 

• Hayami Shotsu, Shigeki Yumoto, Kazuma Miura, Alessandro Moro, Sarthak Pathak, Kazunori Umeda：

“Assembly Progress Estimation using Instance Segmentation with Data Augmentation considering Annotation Data”,

The 17th International Conference on Quality Control by Artificial Vision (QCAV2025), 2025.6. 

Link：www.spiedigitallibrary.org/conference-proceedings-of-spie/13737/137370A/Assembly-progress-estimation-using-instance-segmentation-with-data-augmentation-considering/10.1117/12.3081923.short 

• Yuki Fujita, Alessandro Moro, Sarthak Pathak, Kazunori Umeda：

“Danger Detection in Skiing using a Helmet-mounted 360-degree Camera”,

The 17th International Conference on Quality Control by Artificial Vision (QCAV2025), 2025.6. 

Link：www.spiedigitallibrary.org/conference-proceedings-of-spie/13737/137370U/Danger-detection-in-skiing-using-a-helmet-mounted-360-degree/10.1117/12.3076854.short 

2024

Academic Paper

• Sarthak Pathak, Takumi Hamada, Kazunori Umeda：
  “Trinocular 360-degree Stereo for Accurate All-round 3D Reconstruction Considering Uncertainty”,
  in Advanced Robotics, Vol.38, Issue 15, pp.1038?1051, 2024.8. DOI:10.1080/01691864.2024.2376022
  
  

• Takumi Kitsukawa, Kazuma Miura, Shigeki Yumoto, Sarthak Pathak, Alessandro Moro, Kazunori Umeda：
  “Anomaly Triplet-Net: Progress Recognition Model Using Deep Metric Learning Considering Occlusion for Manual Assembly Work,”
  in Advanced Robotics, Vol.39, Issue 2, pp.89?101, 2025.1. DOI:10.1080/01691864.2024.2422968

International Conference

• Ryogo Kai, Yuzuka Isobe, Sarthak Pathak, Kazunori Umeda：
  “Visual Feedback Control of an Underactuated Hand for Grasping Objects of Varying Stiffness”,
  Proc. of 2025 International Workshop on Frontiers of Computer Vision (IW-FCV2025), pp.14-26, 2025.2.

• Masae Yokota, Sarthak Pathak, Mihoko Niitsuma, Kazunori Umeda：
  "Preliminary experiments for behavior log generation considering spatial relationship between actions and objects",
  Proc. of 2025 International Workshop on Frontiers of Computer Vision (IW-FCV2025), pp.371-382, 2025.2.

• Ryogo Kai, Yuzuka Isobe, Sarthak Pathak, Kazunori Umeda：
  "Pre-touch Deformation Estimation of Soft Robotic Gripper based on Camera Image",
  Proc. 2025 IEEE/SICE International Symposium on System Integration (SII2025), p.1392-1399, 2025.1.

• Yuhei Oshikubo, Sarthak Pathak, Yonghoon Ji, Kazunori Umeda：
  "Real-time 3D Map Update at Point-level for LiDAR-based Localization in Changing Environments",
  Proc. 2025 IEEE/SICE International Symposium on System Integration (SII2025), p.1400-1404, 2025.1.

• Yushin Mochizuki, Masae Yokota, Sarthak Pathak, Kazunori Umeda：
  "Visualisable and Adjustable Command Spaces for Gesture-based Home Appliance Operation System via HoloLens2",
  Proc. 2025 IEEE/SICE International Symposium on System Integration (SII2025), p.1405-1410, 2025.1.

• Masae Yokota, Sarthak Pathak, Mihoko Niitsuma, Kazunori Umeda：
  "Preliminary Experiments of Inferring Human Intention by Analyzing Time-Series Images from Multiple Views",
  Proc. 2025 IEEE/SICE International Symposium on System Integration (SII2025), p.1575-1580, 2025.1.

• H. Chikugo, K. Arai, S. Pathak and K. Umeda：
  “Fisheye Stereo Camera Using Fisheye Vertical Stereo Method”,
  in Proc. of IEEE International Conference on Image Processing (ICIP),
  pp. 3512-3518, 2024.10.

• Masae Yokota, Sarthak Pathak, Kazunori Umeda：
  “Robust Gesture-based Appliance Control via Operator Identification and Tracking”,
  The 33rd IEEE International Conference on Robot and Human Interactive Communication (IEEE RO-MAN 2024), 2024.8.

• Ryogo Kai, Yuzuka Isobe, Sarthak Pathak, Kazunori Umeda：
  “Visual Feedback Control of an Underactuated Hand for Grasping Brittle and Soft Foods”,
  in Proc. of IEEE International Conference on Robotics and Automation (ICRA2024), pp. 7332-7338, 2024.5.

2023

Academic Paper

• Yuzuka Isobe, Sunhwi Kang, Takeshi Shimamoto, Yoshinari Matsuyama, Sarthak Pathak, Kazunori Umeda：
  “Vision-Based In-Hand Manipulation for Variously Shaped and Sized Objects by a Robotic Gripper With Active Surfaces”,
  in IEEE Access, Vol.11, pp.127317-127333, 2023.11.

•  Tomoyu Sakuda, Hikaru Chikugo, Kento Arai, Sarthak Pathak, Kazunori Umeda：
  "Estimation of Road Surface Plane and Object Height Focusing on the Division Scale in Disparity Image Using Fisheye Stereo Camera",
  Journal of Robotics and Mechatronics, Vol.35, No.5, p.1354-1365, 2023.10. DOI: 10.20965/jrm.issn.1883-8049

• Shunya Nonaka, Sarthak Pathak, Kazunori Umeda：
  "Experimental Evaluation of Highly Accurate 3D Measurement Using Stereo Camera and Line Laser",
  Journal of Robotics and Mechatronics, Vol.35, No.5, p.1374-1384, 2023.10. DOI: 10.20965/jrm.issn.1883-8049

• Keigo Akiba, Ryuki Suzuki, Yonghoon Ji, Sarthak Pathak, Kazunori Umeda：
  "Performance Improvement of ICP-SLAM by Human Removal Process Using YOLO",
  Applied human informatics , Vol.5, No.1, p.1-13, 2023.4. DOI: 10.14865/ahi.5.1.1

International Conference

• Shunya Nonaka, Sarthak Pathak, Kazunori Umeda：
  "3D Measurement Using Line Laser and Stereo Camera with Background Subtraction",
  Proc. 2024 IEEE/SICE International Symposium on System Integration (SII2024), p.508-513, 2024.1.

• Shingo Iriyama, Sarthak Pathak, Kazunori Umeda：
  "Three-dimensional Environmental Measurement of Surroundings Using Camera Pose Estimation Base on Line Features",
  Proc. 2024 IEEE/SICE International Symposium on System Integration (SII2024), p.135-140, 2024.1.

• Ryogo Kai, Kenta Ohashi, Hikaru Fujita, Takuya Kojima, Yuma Sasaki Mihoko Niitsuma, Kazunori Umeda：
  "Development of an Environmentally Independent Mobile Manipulation System for Product Disposal in Retail Stores",
  Proc. 2024 IEEE/SICE International Symposium on System Integration (SII2024), p.1282-1287, 2024.1.

• Hikaru Chikugo, Tomoyu Sakuda, Sarthak Pathak, Kazunori Umeda：
  "Obstacle Detection and Height Estimation using Fisheye Stereo Camera Considering Intensity Information",
  Proc. 2024 IEEE/SICE International Symposium on System Integration (SII2024), p.147-152, 2024.1.

• Takehiro Sawahata, Alessandro Moro, Sarthak Pathak, Kazunori Umeda：
  "Instance Segmentation-Based Markerless Tracking of Fencing Sword Tips",
  Proc. 2024 IEEE/SICE International Symposium on System Integration (SII2024), p.472-477, 2024.1.

• Yuzuka Isobe, Sunhwi Kang, Takeshi Shimamoto, Yoshinari Matsuyama, Sarthak Pathak, Kazunori Umeda：
  “Vision-Based In-Hand Manipulation of Variously Shaped Objects via Contact Point Prediction”,
  in Proc. of IEEE Int. Conf. on Intelligent Robots and Systems(IROS2023), pp.8727-8734, 2023.

• Yuhei Oshikubo, Keigo Akiba, Sarthak Pathak, Yonghoon Ji, Kazunori Umeda：
  “Improvement of Sequential SLAM by Considering Semi-dynamic Objects in Indoor Dynamic Environments”,
  Joint Conference on 14th France-Japan and 12th Europe-Asia Congress on Mechatronics & The 9th Asia International Symposium on Mechatronics(AISM2023), Mecatronics23-AISM23-000402, 2023.9.

• Kazuma Miura, Takumi Kitsukawa, Sarthak Pathak, Kazunori Umeda：
  “Estimation of Object Detection Threshold for Object Tracking by Deep Learning”,
  Joint Conference on 14th France-Japan and 12th Europe-Asia Congress on Mechatronics & The 9th Asia International Symposium on Mechatronics(AISM2023), Mecatronics23-AISM23-000424, 2023.9.

• Masae Yokota, Soichiro Majima, Sarthak Pathak, Kazunori Umeda：
  “Intuitive Arm-Pointing based Home-Appliance Control from Multiple Camera Views”,
  The 32nd IEEE International Conference on Robot and Human Interactive Communication (IEEE RO-MAN 2023), 2023.8.

• Takehiro Sawahata, Alessandro Moro, Sarthak Pathak, Kazunori Umeda：
  “Automatic Scoring in Fencing by using Skeleton Points Extracted from Images”,
  The 16th International Conference on Quality Control by Artificial Vision (QCAV2023), 2023.6.

2022

Academic Paper

• Shixun Yan, Sarthak Pathak, Kazunori Umeda：
  "PointpartNet: 3D point-cloud registration via deep part-based feature extraction",
  Advanced Robotics, vol.36, issue 15, pp.724-734, 2022.6. DOI: 10.1080/01691864.2022.2084346

• Shigeki Yumoto, Takumi Kitsukawa, Alessandro Moro, Sarthak Pathak, Taro Nakamura and Kazunori Umeda：
  "Anomaly detection from images in pipes using GAN",
  ROBOMECH Journal, Vol.10, No.9, 2023.3.

International Conference

• Shixun Yan, Sarthak Pathak, Kazunori Umeda：
  "Improving Multi-sensor Point Cloud Fusion via Color Information and Point Cloud Partitioning",
  2022 ICPE 19th International Conference on Precision Engineering, C155, 2022.11.

• Takumi Hamada, Sarthak Pathak, Kazunori Umeda：
  "Accurate All-round 3D Measurement from Trinocular 360-degree Stereo Cameras via Geometric Optimization of Image Texture and Color",
  Conf. of Asian Society for Precision Engg. and Nanotechnology (ASPEN 2022), OR-02-0232, 2022.11.

• Isao Tadokoro, Ryosuke Kataoka, Ryuki Suzuki, Yonghoon Ji, and Kazunori Umeda：
  "Localization of Mobile Robot by Particle Filter Considering Shape Information of Environment and Location of Water Puddles",
  Proc. 2023 IEEE/SICE International Symposium on System Integration (SII2023), pp.1-4, 2023.1.

• Takumi Kitsukawa, Sarthak Pathak, Alessandro Moro, Yoshihiro Harada, Hideo Nishikawa, Minori Noguchi, Akifumi Hamaya, and Kazunori Umeda：
  "Camera-based Progress Estimation of Assembly Work Using Deep Metric Learning",
  Proc. 2023 IEEE/SICE International Symposium on System Integration (SII2023), pp.1-6, 2023.1.

• Tomoyu Sakuda, Kento Arai, Sarthak Pathak, and Kazunori Umeda：
  "Estimation of Road Surface Shape and Object Height Focusing on the Division Scale in Disparity Image Using Fisheye Stereo Camera",
  Proc. 2023 IEEE/SICE International Symposium on System Integration (SII2023), pp.1-5, 2023.1.

2021

Academic Paper

• Mikihiro Ikura, Sarthak Pathak, Jun Younes Louhi Kasahara, Atsushi Yamashita and Hajime Asama :
  “AdjustSense: Adaptive 3D Sensing System with Adjustable Spatio-temporal Resolution and Measurement Range Using High-speed Omnidirectional Camera and Direct Drive Motor”,
  Sensors, Vol. 21, No. 21, 6975, pp. 1-18, October 2021.

International Conference

• Tomoaki Fukuda, Yonghoon Ji, Kazunori Umeda:
  “Tiny range image sensors using multiple laser lights for short distance measurement,”
  Proc. of SPIE Vol. 11794, Fifteenth International Conference on Quality Control by Artificial Vision (QCAV2021), 117940F, 2021.7.

• Kaito Kosuge, Akira Oyama, Hiroto Sato, Kosuke Uchiyama, Taro Nakamura, Kazunori Umeda:
  “Estimating deformation of pipe from its internal image,”
  Proc. of the 7th International Conference on Advanced Mechatronics (ICAM2021), GS8-5, pp.108-109, 2021.7.

• Ryosuke Kataoka, Isao Tadokoro, Yonghoon Ji, Hiromitsu Fujii, Hitoshi Kono, and Kazunori Umeda：
  “Performance Improvement of SLAM Based on Global Registration Using LiDAR Intensity and Measurement Data of Puddle,”
  Proc. 2021 18th International Conference on Ubiquitous Robots (UR2021), pp.553-556, 2021.7.
  DOI: 10.1109/UR52253.2021.9494671

• Akira Oyama, Hiroto Sato, Kaito Kosuge, Kosuke Uchiyama, Taro Nakamura, Kazunori Umeda:
  “Detection of Rust from Images in Pipes Using Deep Learning,”
  Proc. of 2021 18th International Conference on Ubiquitous Robots (UR), pp.476-479, 2021.7. DOI: 10.1109/UR52253.2021.9494671

• Masahiro Takahashi, Takumi Kitsukawa, Alessandro Moro, and Kazunori Umeda：
  "Fast 3D Object Detection with RGB-D Images Using Graph Convolutional Network,"
  Proc. 2022 IEEE/SICE International Symposium on System Integration (SII2022), pp.395-400, 2022.1. DOI:10.1109/SII52469.2022.9708600

• Takumi Kitsukawa, Masahiro Takahashi, Alessandro Moro, Yoshihiro Harada, Hideo Nishikawa, Minori Noguchi, Akifumi Hamaya, and Kazunori Umeda：
  "A Recognition System of AR Markers Attached to Carts in a Factory" ,
  Proc. 2022 IEEE/SICE International Symposium on System Integration (SII2022), pp.608-613, 2022.1. DOI: 10.1109/SII52469.2022.9708838

• Ryuki Suzuki, Yonghoon Ji, Sarthak Pathak, and Kazunori Umeda:
  "Indoor SLAM based online observation probability using a hand drawn map",
  Proc. 2022 IEEE/SICE International Symposium on System Integration (SII2022), pp.695-698, 2022.1. DOI:10.1109/SII52469.2022.9708610

• Satoshi Hashimoto, Alessandro Moro,Kenichi Kudo,Takayuki Takahashi, and Kazunori Umeda：
  "Unsupervised Video Anomaly Detection in Traffic and Crowded Scenes " ,
  Proc. 2022 IEEE/SICE International Symposium on System Integration (SII2022), pp.870-876, 2022.1. DOI: 10.1109/SII52469.2022.9708745

• Momoko Kawata, Hiroshi Higuchi, Sarthak Pathak, Atsushi Yamashita and Hajime Asama :
  “Scale Optimization of Structure from Motion for Structured Light-based All-round 3D Measurement”,
  Proc. 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC2021), 2021.10.

2020

International Conference

• Ryosuke Kataoka, Ryuki Suzuki, Yonghoon Ji, Hiromitsu Fujii, Hitoshi Kono, and Kazunori Umeda：
  “ICP-based SLAM Using LiDAR Intensity and Near-infrared Data”,
  Proc. 2021 IEEE/SICE International Symposium on System Integration (SII2021), pp.100-104, 2021.1.

• Karin Ohashi, Kazuki Tsumura, Yonghoon Ji, and Kazunori Umeda：
  “Online Measurement of Compact Range Image Sensor Using Image Blur of Multi-Slit Laser”,
  Proc. 2021 IEEE/SICE International Symposium on System Integration (SII2021), pp.825-826, 2021.1.

• Ryuki Suzuki, Ryosuke Kataoka, Yonghoon Ji, Kazunori Umeda, Hiromitsu Fujii, Hitoshi Kono:
  “SLAM using ICP and graph optimization considering physical properties of environment,”
  Proc. of 2020 21st International Conference on Research and Education in Mechatronics (REM), 2020.12. DOI: 10.1109/REM49740.2020.9313074

• Shinya Matsubara, Akihiko Honda, Yonghoon Ji, Kazunori Umeda:
  “Three-dimensional Human Tracking of a Mobile Robot by Fusion of Tracking Results of Two Cameras,”
  Proc. of 2020 21st International Conference on Research and Education in Mechatronics (REM), 2020.12. DOI: 10.1109/REM49740.2020.9313929

• Masahiro Takahashi, Yonghoon Ji, Kazunori Umeda, Alessandro Moro:
  “Expandable YOLO: 3D Object Detection from RGB-D Images,”
  Proc. of 2020 21st International Conference on Research and Education in Mechatronics (REM), 2020.12. DOI: 10.1109/REM49740.2020.9313886

• Mitsuaki Yoshimura，YongHoon Ji and Kazunori Umeda：
  “Stereo Measurement of Cross-Sectional Shape of　Weld Beads by Marking”,
  2020 ICPE 18th International Conference on Precision Engineering, D-4-5, 2020.11.

• Jiayi Ling, Tomoyuu Sakuda, Hirotaka Iida, Yonghoon Ji, Kazunori Umeda, Akira Ohashi, Daisuke Fukuda, Shuzo Kaneko, and Junya Murayama：
  “ACCURACY IMPROVEMENT OF FISHEYE STEREO CAMERA BY COMBINING MULTIPLE DISPARITY OFFSET MAPS ”,
  2020 17th International Conference on Ubiquitous Robots (UR), Kyoto, Japan, 2020, pp. 387-390, doi: 10.1109/UR49135.2020.9144873.

arXiv

• Shinya Matsubara, Akihiro Honda, Yonghoon Ji, and Kazunori Umeda：
  “Three-dimensional Human Tracking of a Mobile Robot by Fusion of Tracking Results of Two Cameras”, arXiv, 2020

• Satoshi Hashimoto, Yonghoon Ji, Kenichi Kudo, Takayuki Takahashi, and Kazunori Umeda：
  “Anomaly Detection Based on Deep Learning Using Video for Prevention of Industrial Accidents ”, arXiv, 2020

• Masahiro Takahashi, Alessandro Moro, Yonghoon Ji, and Kazunori Umeda ：
  “Expandable YOLO: 3D Object Detection from RGB-D Images ”, arXiv, 2020

• Ryuki Suzuki, Ryosuke Kataoka, Yonghoon Ji, Kazunori Umeda, Hiromitsu Fujii, and Hitoshi Kono ：
  “SLAM using ICP and graph optimization considering physical properties of environment”, arXiv, 2020

2019

Academic Paper

• Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, and Hajime Asama：
  "Lane-Change Detection Based on Individual Driving Style", Advanced Robotics, Vol. 33, No. 20, pp. 1087-1098, October 2019.

International Conference

• Hiromitsu Fujii, Misaki Sugawara, Hitoshi Kono, and Yonghoon Ji:
  "3D Visualization of Near-Infrared Information for Detecting Water Source", Proc. Fukushima Research Conference 2019 on Remote Technologies for Nuclear Facilities (FRC2019), Fukushima, Japan, p.5, 2019.10.

• Hayata Masumura, Yonghoon Ji and Kazunori Umeda:
  “Shape Reconstruction Using a Mirror with a Range Image Sensor - Detection of Mirror in a Range Image”, Proc. of the Seventh Asia International Symposium on Mechatronics (AISM2019), Volume II, LNEE 589, pp.994-1000, 2020.

• Naho Fujii, Yonghoon Ji and Kazunori Umeda:
  “Measurement range expansion of a range image sensor using a multi-slit laser projector”, Proc. 2020 IEEE/SICE International Symposium on System Integration (SII2020), pp.139-143, 2020.1.

• Hirotaka Iida, Yonghoon Ji, Kazunori Umeda,Akira Ohashi, Daisuke Fukuda, Shuzo Kaneko, Junya Murayama, and Yoshitaka Uchida:
  “High-accuracy Range Image Generation by Fusing Binocular and Motion Stereo Using Fisheye Stereo Camera”, Proc. of 2020 IEEE/SICE International Symposium on System Integration (SII2020), pp.343-348, 2020.1.

• Shixun Yan, Yonghoon Ji, and Kazunori Umeda:
  “A System for Operating Home Appliances with Hand Positioning in a User-definable Command Space”, Proc. 2020 IEEE/SICE International Symposium on System Integration (SII2020), pp.366-370, 2020.1.

• Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Hiroshi Tsuchiya, Atsushi Yamashita, and Hajime Asama:
  "Rotation Estimation of Acoustic Camera Based on Illuminated Area in Acoustic Image", Preprints of the 12th IFAC Conference on Marine Systems (CAMS2019), pp. 217-222, September 2019. (IFAC PapersOnLine, Vol.52, No.21, pp.163-168, 2019.12)

• Xiaorui Qiao, Yonghoon Ji, Atsushi Yamashita, and Hajime Asama:
  "Structure from Motion of Underwater Scenes Considering Image Degradation and Refraction", Preprints of the 1st IFAC Workshop on Robot Control (WROCO2019), pp. 455-459, September 2019. (IFAC PapersOnLine, Vol.52, No.22, pp.78-82, 2019.11)

• Shinya Katsuma, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, and Hajime Asama:
  "Efficient Motion Planning for Mobile Robots Dealing with Changes in Rough Terrain", Preprints of the 1st IFAC Workshop on Robot Control (WROCO2019), pp. 460-463, 20199. (IFAC PapersOnLine, Vol. 52, No. 22, pp. 83-86, November 2019)

• Ryosuke Kataoka, Shota Suzuki, Yonghoon Ji, Kazunori Umeda:
  "Smooth Motion Control of Mobile Robot in Human-robot Coexisting Environment",Preprints of the 1st IFAC Workshop on Robot Control (WROCO2019),2019.9. (IFAC PapersOnLine, Vol.52, No.22, pp.91-94, 2019.11)

• Akira Oyama, Hirotaka Iida, Yonghoon Ji, Kazunori Umeda, Yuki Mano, Takumi Yasui, Taro Nakamura:
  "Three-dimensional Mapping of Pipeline from Inside Images Using Earthworm Robot Equipped with Camera", Preprints of the 1st IFAC Workshop on Robot Control (WROCO2019), 2019.9. (IFAC PapersOnLine, Vol.52, No.22, pp.87-90, 2019.11)

• Shixun Yan, Yonghoon Ji, Kazunori Umeda:
  “"A system for home appliance operation by hand waving in a user-definable command space", Proc. of SPIE 11172, 14th International Conference on Quality Control by Artificial Vision (QCAV2019), 2019.7.

• Yonghoon Ji, Atsushi Yamashita, Kazunori Umeda, Hajime Asama:
  “Automatic camera pose estimation based on a flat surface map", Proc. of SPIE 11172, 14th International Conference on Quality Control by Artificial Vision (QCAV2019), 2019.7.

2018

Academic Paper

• Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, and Hajime Asama:
  "Trajectory Prediction of Surrounding Vehicles Considering Individual Driving Characteristics", International Journal of Automotive Engineering, Vol.9, No.4, pp.282-288, 2018.12.

• Yonghoon Ji, Yusuke Tanaka, Yusuke Tamura, Mai Kimura, Atsushi Umemura, Yoshiharu Kaneshima, Hiroki Murakami, Atsushi Yamashita, and Hajime Asama:
  "Adaptive motion planning based on vehicle characteristics and regulations for off-road UGVs", IEEE Transactions on Industrial Informatics, Vol.15, No.1, pp.699-611, 2019.1.

• Xiaorui Qiao, Yonghoon Ji, Atsushi Yamashita, and Hajime Asama:
  "Visibility enhancement for underwater robot based on an improved underwater light model", Journal of Robotics and Mechatronics, Vol. 30, No. 5, 2018.10.

• Takumi Kano, Takuya Kawamura, Hidetsugu Asano, Takeshi Nagayasu,Kazunori Umeda:
  "Hand waving in command spaces: a framework for operating home appliances", Advanced Robotics, DOI: 10.1080/01691864.2018.1515661.

International Conference

• Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, and Hajime Asama:
  "Three-dimensional Underwater Environment Reconstruction with Graph Optimization Using Acoustic Camera", Proc. 2019 IEEE/SICE International Symposium on System Integrations (SII2019), pp.28-33, 2019.1.

• Hitoshi Kono, Tomohisa Mori, Yonghoon Ji, Hiromitsu Fujii, Tsuyoshi Suzuki:
  "Development of Perilous Environment Estimation System by Rescue Robot Using On-board LiDAR for Teleoperator", Proc. 2019 IEEE/SICE International Symposium on System Integrations (SII2019), pp.7-10, 2019.1.

• Yonghoon Ji, Hiromitsu Fujii, and Hitoshi Kono:
  "Semantic Survey Map Building Framework Using Semi-autonomous Mobile Robot in Disaster Area", Proc. Fukushima Research Conference 2018 on Remote Technologies for Nuclear Facilities (FRC2018), p.20, 2018.10.

• Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, and Hajime Asama:
  "Advanced Adaptive Cruise Control Based on Collision Risk Assessment", Proc. of IEEE 21st International Conference on Intelligent Transportation Systems (ITSC2018), pp.939-944, 2018.11.

• Fumito Yamano, Hirotaka Iida, Kazunori Umeda, Akira Ohashi, Daisuke Fukuda, Shuzo Kaneko, Junya Murayama, Yoshitaka Uchida:
  “Improving the accuracy of a fisheye stereo camera with a disparity offset map,”
  Proc. 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, pp. 88-91, 2018.9.

• Tomoaki Fukuda, Yonghoon Ji, Kazunori Umeda:
  “Accurate Range Image Generation Using Sensor Fusion of TOF and Stereo-based Measurement,”
  Proc. 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, 2018.9.

• Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, and Hajime Asama:
  “3D occupancy mapping framework based on acoustic camera in underwater environment,”
  Preprint of the 12th IFAC Symposium on Robot Control, 2018.8. (IFAC PapersOnLine, Vol.51, No.22, pp.324-339, 2018.8)

• Ngoc Trung Mai, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, and Hajime Asama:
  “Acoustic image simulator based on active sonar model in underwater environment,”
  Proc. 15th International Conference on Ubiquitous Robots, pp. 781-786, 2018.6.

• Alessandro Moro, Jun Wakabayashi, Tetsuro Toda, Kazunori Umeda:
  “A Framework for Human Recognition and Counting in Restricted Area for Video Surveillance,”
  Workshop Proceedings of the 14th International Conference on Intelligent Environments (IE’18), pp.139-148, 2018.6.

2017

Academic Paper

• Yuzuka Isobe, Gakuto Masuyama, Kazunori Umeda:
  "Occlusion handling for a target-tracking robot with a stereo camera", Robomech J, Vol.5, No.4, 2018.

• Gakuto Masuyama, Takehiro Kawashita, Kazunori Umeda:
  "Complementary human detection and multiple feature based tracking using a stereo camera", ROBOMECH Journal, Vol.4, 2017.9

• Tetsuro TODA, Gakuto MASUYAMA, and Kazunori UMEDA：
  "Moving Object Detection Using a Stereo Camera Mounted on a Moving Platform", SICE Journal of Control, Measurement, and System Integration, (SICE JCMSI), Vol. 10, No. 5, pp. 344-349, 2017.9.

International Conference

• Satoshi Watanabe, Kyohei Otsu, Masatsugu Otsuki, Takashi Kubota, Gakuto Masuyama, Kazunori Umeda:
  “A Terrain Slope Estimation Scheme using Infrared Camera for Planetary Exploration Rovers,” 2018 IEEE Aerospace Conference, 2018.3.

• Kyohei Takahashi, Gakuto Masuyama, Kazunori Umeda, Toshiaki Osada, Kazuo Furushima:
  “Measurement of Planar Clothes Using Level Set Method for Automatic Inspection,” nternational Workshop on Advanced Image Technology 2018 (IWAIT2018), 2018.1.

• Akihiko Hishigi, Yuki Tanaka, Gakuto Masuyama, Kazunori Umeda:
  “Fisheye Camera’s Intrinsic Parameter Estimation Using Trajectories of Feature Points Obtained from Camera Rotation,” Proc. of 2017 IEEE/SICE International Symposium on System Integration (SII2017), pp.529-534, 2017.12.

• Akira Ohashi, Fumito Yamano, Gakuto Masuyama, Kazunori Umeda, Daisuke Fukuda, Kota Irie, Shuzo Kaneko, Junya Murayama, Yoshitaka Uchida:
  “Stereo Rectification for Equirectangular Images,” Proc. of 2017 IEEE/SICE International Symposium on System Integration (SII2017), 2017.12.

• Hiroya Okamoto, Yuki Tanka, Akihiko Hishigi, Abdelaziz Khiat, Noriko Shimomura, Gakuto Masuyama, and Kazunori Umeda:
  "Estimation of extrinsic parameters of multiple fish-eye cameras using calibration markers" 13th Interational Conference on Quality Control by Artificial Vision (QCAV2017), 2017.5.

• Kyohei Takahashi, Gakuto Masuyama, Kazunori Umeda, Toshiaki Osada, Kazuo Furushima:
  "Measurement of planar clothes by image processing for automatic inspection", Proc. of the Sixth Asia International Symposium on Mechatronics (AISM2017), D1-6, 2017.9. *Abstract only

• Gakuto Masuyama, Kazunori Umeda:
  "Apprenticeship Learning in an Incompatible Feature Space", Proc. of 2017 IEEE International Conference on Robotics and Automation (ICRA2017), pp.932-938, 2017.5

2016

International Conference

• Masashi Kimura, Gakuto Masuyama, Kazunori Umeda:
  “Three-dimensional mapping by direct estimation of a small motion using range images and optical flow of color images,” Proc. of 2016 IEEE/SICE International Symposium on System Integration (SII2016), pp.756-761, 2016.12.

• Yi Feng, Ayase Itagaki, Gakuto Masuyama, Kazunori Umeda:
  “Development of Compact Range Image Sensor with Multi-Slit Laser Projector that Uses Disparity and Blur,” Proc. of 16th International Conference on Precision Engineering (ICPE2016), P05-8256, 2016.11.

• Tetsuro Toda, Gakuto Masuyama, Kazunori Umeda:
  “Detecting Moving Objects Using Optical Flow with a Moving Stereo Camera,” Proc. of MOBIQUITOUS 2016 - 13th Annual International Conference on Mobile and Ubiquitous Systems: Computing, Networking and Services, pp.35-40, 2016.11.

• Shinta Nozaki, Masashi Kimura, Gakuto Masuyama, Kazunori Umeda:
  “High-speed Three-dimensional Mapping by Direct Estimation of a Small Motion Using Range Images,”
  Proc. 11th France-Japan and 9th Europe-Asia Congress on Mechatronics / 17th International Conference on Research and Education in Mechatronics, pp.68-73, 2016.6.

• Akira Ohashi, Yuki Tanaka, Gakuto Masuyama, Kazunori Umeda, Daisuke Fukuda, Takehito Ogata, Tatsurou Narita, Shuzo Kaneko, Yoshitaka Uchida, Kota Irie:
  “Fisheye stereo camera using equirectangular images,” Proc. 11th France-Japan and 9th Europe-Asia Congress on Mechatronics / 17th International Conference on Research and Education in Mechatronics, pp.284-289, 2016.6.

2015

International Conference

• Tomoya Ozaki, Gakuto Masuyama, Kazunori Umeda, Guy Godin:
  “Automation of Initial Alignment in 2D/3D Registration
  using Structure from Motion”,
  2016 International Workshop On Advanced Image Technology (IWAIT2016),
  2016. 1.

• Yuzuka Isobe, Gakuto Masuyama, Kazunori Umeda:
  “Target Tracking for a Mobile Robot with a Stereo Camera Considering Illumination Changes”,
  2015 IEEE/SICE International Symposium on System Integration (SII2015), 2015.12.

• Yi Feng, Shinta Nozaki, Gakuto Masuyama, Kazunori Umeda:
  “Development of Miniature Range Image Sensor Using Multi-Slit Laser Projector and Endoscopy Camera”,
  The 6th International Conference on Advanced Mechatronics (ICAM2015), 2015.12.

• Yuki tanaka, Gakuto Masuyama, Kazunori Umeda:
  “Intrinsic parameter estimation of a fish-eye camera using trajectories of feature points when rotating the camera”,
  The 6th International Conference on Advanced Mechatronics (ICAM2015), 2015.12.

• Yuzuka Isobe, Gakuto Masuyama, Kazunori Umeda:
  “Occlusion Handling for Target Tracking with a Mobile Robot”,
  The Fifth Asia International Symposium on Mechatronics (AISM2015), 2015.10.
  Best Paper Award

• Kyohei Takahashi, Gakuto Masuyama, Kazunori Umeda:
  “Discrimination of a Driver's State Using Face Tracking”,
  The Fifth Asia International Symposium on Mechatronics (AISM2015), 2015.10.

• Gakuto Masuyama, Kazunori Umeda:
  “Apprenticeship Learning Based on Inconsistent Demonstrations”,
  2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), 2015.9.

• Tomoya Ozaki, Toru Takahama, Gakuto Masuyama, Kazunori Umeda, Guy Godin：
  “Automatic Estimation of Initial Alignment in 2D/3D Registration
  using Structure from Motion”,
  6th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2015), 2015.8.

2014

International Conference

• Yuzuka Isobe, Gakuto Masuyama, Kazunori Umeda:
  " Human Following with a Mobile Robot Based on Combination of Disparity and Color Images",
  Proc. 10th Japan-France Congress & 8th Asia-Europe Congress on Mecatronics, pp. 84-88, 2014.11

• Takehiro Kawashita, Masatoshi Shibata, Gakuto Masuyama, Kazunori Umeda:
  "Tracking of Multiple Humans Using Subtraction Stereo and Particle Filter",
  2014 IEEE Int. Workshop on Advanced Robotics and its Social Impacts (ARSO2014), pp.63-68, 2014.9.

• Toru Ubukata, Masatoshi Shibata, Kenji Terabayashi, Alessandro Moro, Takehiro Kawashita, Gakuto Masuyama, Kazunori Umeda:
  "Fast Human Detection Combining Range Image Segmentation and Local Feature Based Detection",
  Proc. of 24th Int. Conf. on Pattern Recognition (ICPR2014), pp. 4281-4286, 2014.8

2013

Academic Paper

• Congwei Dang, Masayuki Iwai, Yoshito Tobe, Kazunori Umeda and Kaoru Sezaki：
  "A framework for pedestrian comfort navigation using multi-modal environmental sensors"
  Pervasive and Mobile Computing, Vol.9, No.3, pp.421-436, 2013.6.

International Conference

• Yuki Uchida, Shinta Nozaki, Gakuto Masuyama, Kazunori Umeda:
  “3D Mapping Using an RGB-D Sensor”
  Proc. of 20th Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV2014), pp.27-32, 2014.2.

• Gakuto Masuyama, Atsushi Yamashita, Hajime Asama:
  "Selective Exploration Exploiting Skills in Hierarchical Reinforcement Learning Framework",
  2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013), pp.692-693, 2013.11.

• Hidetsugu Asano, Takeshi Nagayasu, Tatsuya Orimo, Kenji Terabayashi, Mutsumi Ohta:
  “Recognition of Finger?Pointing Direction Using Color Clustering and Image Segmentation”
  Proceedings of SICE Annual Conference 2013 (SICE2013), pp. 2029-2034, 2013.9.

• Makoto Arie, Masatoshi Shibata, Kenji Terabayashi, Alessandro Moro and Kazunori Umeda：
  "FAST HUMAN DETECTION USING TEMPLATE MATCHING FOR GRADIENT IMAGES AND ASC DESCRIPTORS BASED ON SUBTRACTION STEREO"
  2013 IEEE International Conference on Image Processing (ICIP2013), 2013.9.

• Kyohei Sato, Mitsunori Tada and Kazunori Umeda：
  "Trajectory of Center of Pressure and Posture of Fingertip During Lifting Task"
  24th International Society of Biomechanics (ISB2013 BRAZIL), 2013.8.
  Kiyoshi Takita, Kenji Terabayashi, Kazunori Umeda and Atsuo Tomidokoro・F
  "Detection of Affected Segments of Glaucoma Using Features of Nerve Fiber Layer"
  11th Interational Conference on Quality Control by Artificial Vision (QCAV2013), 2013.5.

• Yuki Uchida, Shinta Nozaki, Kenji Terabayashi and Kazunori Umeda：
  "Construction of a coaxial textured range image sensing system"
  11th Interational Conference on Quality Control by Artificial Vision (QCAV2013), 2013.5.

2012

Academic Paper

• Kiyoshi Takita, Takeshi Nagayasu, Hidetsugu Asano, Kenji Terabayashi, and Kazunori Umeda：
  " Mouth Movement Recognition Using Template Matching and its Implementation in an Intelligent Room,"
  Journal of Robotics and Mechatronics, Vol.24, No.2, pp.311-319, 2012.4.

• Kenji Terabayashi, Toru Morita, Hiroya Okamoto, and Kazunori Umeda:
  “3D Measurement Using a Fish-Eye Camera Based on EPI Analysis,”
  J.Robotics and Mechatronics, Vol.24, No.4, pp. 677-685, 2012.8.

International Conference

• Alessandro Moro, Enzo Mumolo, Massimiliano Nolich, Kenji Terabayashi and Kazunori Umeda：
  "Real-Time Background Modeling Based on Classified Dynamic Objects for Human Robot Application,"
  Proc. of the Ninth International Conference on Networked Sensing Systems (INSS2012), 2012.6.

• Kenji Terabayashi, Hidetsugu Asano, Takeshi Nagayasu, Tatsuya Orimo, Mitsumi Ohta, Takaaki Oiwa, Kazunori Umeda:
  "Detection of small-waving hand by distributed camera system,"
  Proc. of the Ninth International Conference on Networked Sensing Systems (INSS2012), 2012.6.

• Kenji Terabayashi, Toru Morita, Hiroya Okamoto, Takaaki Oiwa, Kazunori Umeda:
  "EPI Analysis of Fish-Eye Images,"
  Proceedings of the 12th International Conference on Intelligent Autonomous Systems, 2012.6.

• Kazuya Iwasaki, Kenji Terabayashi, Kazunori Umeda:
  "Construction of a compact range image sensor using a multi-slit laser projector suitable for a robot hand",
  2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), pp.4517-4523, 2012.10.

• Toru Takahama, Ryo Inomata, Kenji Terabayashi, Kazunori Umeda, Guy Godin:
  "Improvement of Color Information in the Generation of 3D Models of Real Objects Using Range Intensity Images",
  The 14th International Conference on Precision Engineering (ICPE2012), Vols. 523-524, pp.362-367, 2012.11.

2011

Academic Paper

• Yuma Hoshikawa, Yuki Hashimoto, Alessandro Moro, Kenji Terabayashi, Kazunori Umeda：
  " Tracking of Human Groups Using Subtraction Stereo",
  SICE Journal of Control, Measurement, and System Integration (SICE JCMSI), Vol. 4, No. 3, pp. 214-220, 2011.5.

• Kenji Terabayashi, Yuma Hoshikawa, Alessandro Moro, Kazunori Umeda：
  " Improvement of Human Tracking in Stereoscopic Environment Using Subtraction Stereo with Shadow Detection",
  International Journal of Automation Technology, Vol. 5, No. 6, pp.924-931, 2011.11.

International Conference

• Makoto Arie, Alessandro Moro, Yuma Hoshikawa, Toru Ubukata, Kenji Terabayashi, Kazunori Umeda:
  "Fast and Stable Human Detection Using Multiple Classifiers Based on Subtraction Stereo with HOG Features",
  2011 IEEE International Conference on Robotics and Automation (ICRA2011), pp.868-873, 2011.5

• Takeshi Nagayasu, Hidetsugu Asano, Masahito Takahashi, Kenji Terabayashi, Kazunori Umeda:
  "Improvement of Key Functions of the Intelligent Room",
  Proc. of Eighth International Conference on Networked Sensing Systems (INSS2011), 2-2, 2011.6

• Kanako Kimura, Mitsunori Tada, Kenji Terabayashi, Kazunori Umeda:
  "Subject-specific finger model from geometric database",
  Proceedings of the 23rd congress of International Society of Biomechanics (ISB2011), P155, 2011.7.

• Takeshi Nagayasu, Hidetsugu Asano, Kenji Terabayashi, Kazunori Umeda:
  "Improvement of an Intelligent Room that Detects Hand Waving Motion for Operation of Home Appliances",
  Proceedings of The SICE Annual Conference 2011 (SICE2011), pp.821-826, 2011.9.

• Ryo Inomata, Kenji Terabayashi, Kazunori Umeda, Guy Godin:
  "Registration of 3D Geometric Model and Color Images Using SIFT and Range Intensity Images",
  Proceedings of 7th International Symposium on Visual Computing (ISVC2011), Part I, pp.325-336, 2011.9.

• Alessandro Moro, Enzo Mumolo, Massimiliano Nolich, Kazunori Umeda:
  "Real-Time GPU Implementation of an Improved Cars, Pedestrians and Bicycles Detection and Classification System",
  Proceedings of 14th International IEEE Conference on Intelligent Transportation Systems (ITSC2011), pp.1343-1348, 2011.10.

• Alessandro Moro, Makoto Arie, Kenji Terabayashi, Kazunori Umeda:
  "Fast Human Detection Algorithm Based on Subtraction Stereo for Generic Environment",
  Proceedings of 2011 International Symposium on Computational Models for Life Sciences (CMLS-11), pp.307-316, 2011.10.

Other

• Tatsuhiro Nishimoto, Tatshunori Ushikubo, Masayuki Tada, Kazumasa Oshima, Hiroki Saito, Hiroto Aida, Kei Sawai, Tsuyoshi Suzuki, Kenji Terabayashi, Takeshi Iwamoto, Masayuki Iwai, Kazunori Umeda, Yoshito Tobe：
  " An Information Service for Urban Atmosphere Using Smartphone －Experiment Report at Tatebayashi, Gumma Prefecture－",
  2011 International Symposium on Computational Models for Life Sciences (CMLS-11), OP11, 2011.10.

• Makoto Arie, Alessandro Moro, Kenji Terabayashi, Kazunori Umeda：
  " Human detection using multiple classifiers based on subtraction stereo with HOG features",
  2011 International Symposium on Computational Models for Life Sciences (CMLS-11), OP07, 2011.10.

2010

Academic Paper

• Kota Irie, Masahito Takahashi, Kenji Terabayashi, Hidetoshi Ogishima and Kazunori Umeda：
  " Skin Color Registration Using Recognition of Waving Hands",
  J. Robotics and Mechatronics, Vol.22, No.3, pp.262-272, 2010.6.

• Kenji Terabayashi, Natsuki Miyata, Kazunori Umeda, Jun Ota：
  “Role of Pre-Operation in Experiencing Differently Sized Hands”,
  Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol. 14, No. 7, pp.793-801, 2010.11.

International Conference

• Masato Kusanagi, Kenji Terabayashi, Kazunori Umeda, Guy Godin, Marc Rioux:
  “Construction of a 3D Model of Real-world Object Using Range Intensity Images,”
  Seventh Canadian Conference on Computer and Robot Vision (CRV 2010), pp.317-323, 2010.6.

• Yuma Hoshikawa, Yuki Hashimoto, Alessandro Moro, Kenji Terabayashi, Kazunori Umeda:
  "Tracking of Human Groups Using Subtraction Stereo",
  Proceedings of The First International Workshop on Human Behavior Sensing (HBS2010), pp.22-27, 2010.6

• Alessandro Moro, Kenji Terabayashi, Kazunori Umeda, Enzo Mumolo:
  "A Framework for the Detection and Interaction with Pedestrian and Objects in an Unknown Environment",
  Proc. of Seventh International Conference on Networked Sensing Systems (INSS2010), pp.257-260, 2010.6

• Toru Ubukata, Kenji Terabayashi, Alessandro Moro, Kazunori Umeda:
  "Multi-Object Segmentation in a Projection Plane Using Subtraction Stereo",
  Proceedings of 20th International Conference on Pattern Recognition (ICPR2010)

• Alessandro Moro, Kenji Terabayashi, Kazunori Umeda:
  "Detection of Moving Objects with Removal of Cast Shadows and Periodic Changes Using Stereo Vision",
  Proc. of 20th Int. Conf. on Pattern Recognition (ICPR2010), pp.328-331, 2010.8

• Takahiro Kuroki, Kenji Terabayashi, Kazunori Umeda:
  "Construction of a compact range image sensor using multi-slit laser projector and obstacle detection of a humanoid with the sensor",
  2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), pp.5972-5977, 2010.10.

• Hidetoshi Ishiyama, Kenji Terabayashi, Kazunori Umeda:
  "A 100Hz Real-time Sensing System of Textured Range Images",
  Proc. of 2010 International Symposium on Optomechatronic Technologies, SP-SH-7, 2010.10.

• Masahito Takahashi, Kota Irie, Kenji Terabayashi, Kazunori Umeda:
  "Gesture Recognition Based on Detection of Periodic Motion",
  Proceedings of International Symposium on Optomechatronic Technologies (ISOT2010), VTSC-2, 2010.10.

• Alessandro Moro, Enzo Mumolo, Massimiliano Nolich, Kenji Terabayashi, Kazunori Umeda:
  "Dynamic Background Modeling for Moving Objects Detection Using a Mobile Stereo Camera",
  Proc. of Mechatronics2010, pp.143-148, 2010.11.

• Kenji Terabayashi, Yuma Hoshikawa, Yuki Hashimoto, Kazunori Umeda:
  "Real-time human tracking in stereoscopic environments using subtraction Stereo",
  Proc. of 4th International Asia Symposium on Mechatronics (AISM2010), pp.97-104, 2010.12.

Other

• Kazunori Umeda:
  “3D-2D registration, Seventh Canadian Conference on Computer and Robot Vision (CRV 2010)”,
  Tutorial, Ottawa Univ., 2010.5.30.

2009

Academic Paper

• Megumi Shinozaki, Masato Kusanagi, Kazunori Umeda, Guy Godin, Marc Rioux:
  "Correction of color information of a 3D model using a range intensity image,"
  Computer Vision and Image Understanding, Vol.113, No.11, pp.1170-1179, Nov. 2009.7.

• Kenji Terabayashi, Hisanori Mitsumoto, Toru Morita, Yohei Aragaki, Noriko Shimomura, and Kazunori Umeda:
  "Measurement of Three Dimensional Environment with a Fish-eye Camera Based on Structure From Motion - Error Analysis,"
  Journal of Robotics and Mechatronics, Vol. 21, No. 6, pp.680-688, 2009.12.

International Conference

• Ryota Okutsu, Kenji Terabayashi, Yohei Aragaki, Noriko Shimomura and Kazunori Umeda:
  "Generation of Overhead View Images by Estimating Intrinsic and Extrinsic Camera Parameters of Multiple Fish-Eye Cameras",
  MVA2009 IAPR Conference on Machine Vision Applications, pp447-450, 2009.5.

• Shunsuke Hijikata, Kenji Terabayashi, Kazunori Umeda:
  "A Simple Indoor Self-Localization System Using Infrared LEDs",
  Proceedings of Sixth International Conference on Networked Sensing Systems (INSS2009), pp.45-51, 2009.6.

• Kenji Terabayashi, Yuki Hashimoto, Yuma Hoshikawa, Kazunori Umeda:
  "Measurement of Pedestrians in Urban Environment Using Subtraction Stereo",
  Proceedings of Sixth International Conference on Networked Sensing Systems (INSS2009), pp.240, 2009.6.

• Alessandro Moro, Kazunori Umeda, Kenji Terabayashi and Enzo Mumolo:
  "Auto-adaptive threshold and shadow detection approaches for pedestrians detection,"
  Proceedings of Asian Workshop on Sensing and Visualization of City-Human Interaction (AWSVCI2009), pp.9-12, 2009.8.

• Yuma Hoshikawa, Kenji Terabayashi and Kazunori Umeda:
  "Human Tracking Using Subtraction Stereo and Color Information,"
  Proceedings of Asian Workshop on Sensing and Visualization of City-Human Interaction (AWSVCI2009), pp.5-8, 2009.8.

• Kenji Terabayashi, Natsuki Miyata, Jun Ota, Kazunori Umeda:
  "Effective Adaptation to Experience of Different-sized Hand,"
  Proceedings of 5th International Symposium on Visual Computing (ISVC2009), Part II, pp.1002-1010, 2009.11.

• Kenji Terabayashi, Yuki Hashimoto, Kazunori Umeda:
  "Measurement of Pedestrian Groups Using Subtraction Stereo,"
  Proceedings of 5th International Symposium on Visual Computing (ISVC2009), Part II, pp.538-549, 2009.11.

2008

International Conference

• Masateru Tateishi, Hidetoshi Ishiyama and Kazunori Umeda:
  "A 200Hz Small Range Image Sensor Using a Multi-Spot Laser Projector",
  2008 IEEE Internationl Conference on Robotics and Automation, FrA9.6 A 3022, 2008.5.

• Kei Suzuki, Kazunori Takashio, Hideyuki Tokuda, Masaki Wada, Yusuke Matsuki, and Kazunori Umeda:
  "Toward Real-Time Extraction of Pedestrian Contexts with Stereo Camera",
  Fifth International Conference on Networked Sensing Systems(INSS 2008), Kanazawa, Japan, 2008.6.

• Yuuki Hashimoto, Yusuke Matsuki, Tatsuya Nakanishi, Kazunori Umeda, Kei Suzuki, Kazunori Takashio:
  "Detection of pedestrians using subtraction stereo",
  2008 International Symposium on Applications and the Internet, pp.165-168, 2008.7.

• Kenji Terabayashi, Natsuki Miyata, Jun Ota, Kazunori Umeda:
  "Asymmetric Familiarization with Experience of Different Sized Hand",
  Proceedings of Third Asia International Symposium on Mechatronics (AISM2008), pp.414-418, 2008.8.

• Tatsuya Nakanishi, Kazunori Umeda:
  "Mouth Motion Recognition for Intelligent Room Using DP Matching",
  Proc. Int. Conf. on Machine Automation ICMA2008, pp.207-210, 2008.9.

• Takashi Tokuno, Mitsunori Tada, Kazunori Umeda:
  "High-Precision MRI-Compatible Force Sensor with Parallel Plate Structure",
  Proc. of the 2nd International Conference on Biomedical Robotics and Biomechatronics, pp.33-38, 2008.10.

• Kazunori Umeda, Tatsuya Nakanishi, Yuuki Hashimoto, Kota Irie, and Kenji Terabayashi:
  "Subtraction Stereo -A Stereo Camera System That Focuses On Moving Regions -",
  Proc. of SPIE Vol.7239 3D Imaging Metrology, 2009.1.

• Hidetoshi Ishiyama, Kenji Terabayashi, and Kazunori Umeda:
  "Real-time Sensing of Textured Range Images for Localization and Mapping",
  15th Japan-Korea Joint Workshop on Frontiers of Computer Vision, 2A-34, 2009.2.

2007

Academic Paper

• Naotaka Hikosaka, Kei Watanabe, and Kazunori Umeda:
  " Development of Obstacle Recognition System of Humanoids Using Relative Disparity Maps from Small Range Image Sensors" ,
  J. Robotics and Mechatronics, Vol.19, No.3, pp.290-297, 2007.6.

International Conference

• Mitsunori Tada, Masakazu Shirai, and Kazunori Umeda:
  ”Fingernail Force Sensor for Analysis of Manipulation Task”,
  Proc. of the 3rd Int. Symp. on Measurement, Analysis and Modeling of Human Functions, pp.307-311, 2007.

• Naotaka Hikosaka, Kei Watanabe, Kazunori UMEDA:
  ”Obstacle Detection of a Humanoid on a Plane Using a Relative Disparity Map Obtained by a Small Range Image Sensor”,
  Proc. of IEEE Int. Conf. on Robotics and Automation, pp.3048 3053, 2007.4.

• Kota Irie, Masaki Wada, Kazunori Umeda:
  ”3D Measurement by Distributed Camera System for Constructing an Intelligent Room”,
  BoF paper, Fourth International Conference on Networked Sensing Systems (INSS 2007), Braunschweig, Germany, 2007.6.

• Ken Nohara, Mitusnori Tada, Kazunori Umeda, Masaaki Mochimaru:
  "Synthesizing possible variation of finger structure using principal component analysis for non-rigid volume registration result",
  In proceeding of 3rd International Symposium on Measurement, Analysis and Modeling of Human Function, pp.247-253, 2007.6.

• Yoshiaki Jitsukawa, Ryuichi Ueda, Tamio Arai, Kazutaka Takeshita, Yuji Hasegawa, Shota Kase, Takashi Okuzumi, Kazunori Umeda, and Hisashi Osumi:
  ”Fast Decision Making of Autonomous Robot under Dynamic Environment by Sampling Real-Time Q-MDP Value Method,”
  Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1644-1650, 2007.10.

• Bandit SUKSAWAT, Akihiro OBI, Daiji YABUTA, Kazunori UMEDA, and Tohru IHARA:
  ”Prediction of high-risk operation time for new on-the-job training in anthropocentric cell manufacturing system,”
  Proc. 2nd IEEE International Conference on Digital Ecosystems and Technologies (DEST 2008), pp.508-513, 2008.2.

2006

Academic Paper

• Naoya Ogawa, Kazunori Umeda:
  "Range measurement using a digital camera flash,"
  J. Robotics and Mechatronics, Vol.19, No.1, pp.77-84, 2007.2.

International Conference

• Hisashi OSUMI, Shogo KAMIYA, Hirokazu KATO, Kazunori UMEDA, Ryuichi UEDA and Tamio ARAI:
  "Time Optimal Control for Quadruped Walking Robots,"
  Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1102-1108, 2006.5.

• Megumi Shinozaki, Kazunori Umeda, Guy Godin, Marc Rioux:
  "Correction of intensity of a color image using a range intensity image,"
  Proc. 18th Int. Conf. on Pattern Recognition (ICPR' 06), pp.774-777, 2006.8.

• Noriyuki Shibuya, Kazunori Umeda:
  "Self-Localization of a Mobile Robot Using Compressed Image Data of Average and Standard Deviation,"
  Proc. 18th Int. Conf. on Pattern Recognition (ICPR' 06), pp.614-617, 2006.8.

2005

International Conference

• Ryuichi Ueda, Tamio Arai, Kohei Sakamoto, Yoshiaki Jitsukawa, Kazunori Umeda, Hisashi Osumi, Toshifumi Kikuchi and Masaki Komura：
  "Real-Time Decision Making with State-Value Function under Uncertainty of State Estimation -Evaluation with Local Maxima and Discontinuity",
  Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3475-3480, 2005.4.

• Masateru Tateishi, Kazunori Umeda:
  "Construction of a varsatile compact range image sensor",
  Proc. 7th Int. Conf. on Quality Control by Artificial Vision (QCAV2005), pp.265-270, 2005.5.

• Kazunori Umeda, Megumi Shinozaki, Guy Godin and Marc Rioux：
  "Correction of color information of a 3D model using a range intensity image",
  Proc. 5th Int. Conf. on 3-D Digital Imaging and Modeling (3DIM2005), pp.229-236, 2005.6.

• T. Kikuchi, K. Umeda, R. Ueda, Y. Jitsukawa, H. Osumi and T. Arai:
  "Improvement of Color Recognition Using Colored Objects",
  RoboCup Symposium 2005, 2005.7.

• Naoya Ogawa, Kazunori Umeda:
  "Range measurement by a digital camera using flash",
  Proc. of SPIE Vol. 6051 ISOT Optomechatronic Machine Vision, 605108, 2005.12.

2004

Academic Paper

• Takashi Yamagishi, Kazunori Umeda:
  "An input method of Japanese characters by recognizing the number of fingers,"
  J. Robotics and Mechatronics, Vol.16, No.4, pp.420-425, 2004.8.

• Kazunori Umeda, Jun Ota, Hisayuki Kimura:
  "Fusion of multiple ultrasonic sensor data and image data for measuring an object's motion,"
  J. Robotics and Mechatronics, Vol.17, No.1, pp.36-43, 2005.2.

International Conference

• Kazunori Umeda:
  "A Compact Range Image Sensor Suitable for Robots,"
  Proc. 2004 Int. Conf. on Robotics and Automation, pp.3167-3172, 2004.4.

• Kazunori Umeda, Guy Godin, Marc Rioux:
  "Registration of Range and Color Images Using Gradient Constraints and Range Intensity Images,"
  Proc. ICPR2004, Vol.3, pp.12-15, 2004.8.

• Kota Irie, Naohiro Wakamura, Kazunori Umeda:
  "Construction of an Intelligent Room Based on Gesture Recognition -Operation of Electric Appliances with Hand Gestures-,"
  Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.193-198, 2004.9.

• Kazunori Umeda, Shinya Tanaka, Toshiya Yamada, Kota Irie:
  "Interactive Operation of a Mobile Robot by Detection of Waving Hand and Gesture Recognition,"
  Proc. 10th Int. Conf. On Virtual Systems and Multimedia (VSMM), 2004.11.

• Noriyuki Shibuya, Kazunori Umeda:
  "Self Localization of a Mobile Robot Using Images - Compression of Images Using Average and Standard Deviation of Each Column-,"
  Proc. Int. Conf. on Machine Automation ICMA2004, pp.375-380, 2004.11.

• WeiMing He, Hisayoshi Sato, Kazunori Umeda, Tetsuo Sone, Yasuhiro Tani, Makoto Sagara, Hirohiko Matsuzaki:
  "A new methodology to evaluate error space in CMM by sequential two points method,"
  Proc. Int. Conf. on Machine Automation ICMA2004, pp.545-548, 2004.11.

2003

International Conference

• Kazunori Asanuma, Kazunori Umeda, Ryuichi Ueda, and Tamio Arai:
  "Development of a Simulator of Environment and Measurement for Autonomous Mobile Robots Considering Camera Characteristics",
  RoboCup Symposium 2003,2003.7

• Ryuichi Ueda, Tamio Arai, Kazunori Asanuma, Shogo Kamiya, Toshifumi Kikuchi, Kazunori Umeda:
  "Mobile Robot Navigation based on Expected State Value under Uncertainty of Self-localization,"
  Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.473-478, 2003.10.

Other

• Kazunori Umeda:
  "Editorial for Special Issue.",
  J. Robotics and Mechatronics, Vol.15, No.3, p.253, 2003.6.

2002

Academic Paper

• Kazunori Umeda and Michiaki Sekine:
  "Simple Compound-Eye-Type Micro Vision Sensor and Its Application for Detecting Motion",
  J. Robotics and Mechatronics,Vol.14, No.2, pp.193-198, 2002.4.

International Conference

• K. Umeda, H. Sato, T. Sone, W. M. He, M. Sagara, H. Matsuzaki:
  "An Evaluation of Error Space in Three Dimensional Coordinate Measuring Machine(3DCMM) by Sequential Two Points Method",
  euspen2002, pp.577-580, 2002.5.

• Kota IRIE, Kazunori UMEDA:
  "Detection of Waving Hands from Images - Application of FFT to time series of intensity values -",
  Proc. 3rd China-Japan Symposium on Mechatronics, pp.79-83, 2002.9.

• Masanori WADA, Hiroshi HOSAKA, Kazunori UMEDA, Kiyoshi ITAO, and Yoshimasa KONDO:
  "Development of Automated Assembly Machine of Optical Fiber Array using Image Processing",
  Proc. Int. Conf. on Machine Automation ICMA2002, pp.565-572, 2002.9.

• Weiming He, Hisayoshi Sato, Kazunori Umeda:
  "Flatness Measurement of Silicon Substrate by Sequential-Two-Points-Method",
  Proc. Int. Symp. on Experimental Mechanics,B117(6 pages, CD-ROM), 2002.12.

2001

International Conference

• Genichiro Kinoshita, Yujin Kurimoto, Hisashi Osumi and Kazunori Umeda:
  "Dynamic Contact Sensing of Soft Planar Fingers with Tactile Sensors",
  Proc. 2001 IEEE Int. Conf. on Robotics and Automation, pp.565 -570, 2001.5.

• Kazunori Umeda and Gen-ichiro Kinoshita :
  " Measurement of 3D Fundamental Features by Fusion of Range, Intensity and Tactile Images,"
  Proc. Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI 2001), pp.177-182, 2001.8.

• Masanori WADA, Naoto NAGAKI, Yuichi NAKANISHI, Yoshimasa KONDO, Kazunori UMEDA, Hiroshi HOSAKA and Kiyoshi ITAO:
  "Study on Automatic Assembly Machine of Optical Fiber Array,"
  Proc. 3rd IFToMM International Micromechanisms Symposium, pp.43-47, 2001.9.

• Takashi Yamagishi, Yuichi Nakanishi, Kazunori Umeda:
  "Gesture Recognition for Realizing Intelligent Room,"
  Proc. 5th Franco-Japanese Congress & 3rd European-Asian Congress of Mechatronics, pp.293-298, 2001.10.

2000

International Conference

• Kazunori UMEDA, Takatoshi TAKAHASHI:
  "Subpixel Stereo Method: a New Methodology of Stereo Vision,"
  Proc. 2000 IEEE Int. Conf. on Robotics and Automation, pp.3215-3220, 2000.4.

• Koichi HARA, Kazunori UMEDA:
  "Object tracking by fusing distance and imagery information,"
  Proc. Int. Conf. on Machine Automation ICMA2000, pp.663-668, 2000.9.

• Yusuke TORIUMI, Kiyoshi NAEMURA, Kazunori UMEDA, Hirhosi HOSAKA, Kiyoshi ITAO:
  "Human navigation by GPS velocity data",
  Proc. Int. Conf. on Machine Automation ICMA2000, pp.231-236, 2000.9.

• Michiaki Sekine, Kazunori Umeda:
  "Compound-eye-type Micro Vision Sensor with Simple Structure,"
  Proc. 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1243-1248,2000.11.

1999

International Conference

• Hisashi OSUMI, Nobuhiko ISHII, Kentaro TAKAHASHI, Kazunori UMEDA and Gen-ichiro KINOSHITA:
  "Optimal Grasping for a Parallel Two-Fingered Hand with Compliant Tactile Sensors,"
  Proc. 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.799-804, 1999.10.

• Genichiro KINOSHITA, Yasuo SUGENO, Hisashi OOSUMI, Kazunori UMEDA and Yoichi MURANAKA:
  "High Compliance Sensing Behavior of A Tactile Sensor,"
  Proc. 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.826-831, 1999.10.

• Kazunori UMEDA, Junichi FURUKAWA, Gen-ichiro KINOSHITA, Hisashi OSUMI and Shigeyuki SAKANE:
  "Measurement of 3D shape parameters for hand-eye cooperation system by fusing tactual and visual data,"
  Proc. 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.996-1001, 1999.10.

1998

International Conference

• Koichiro KISHIMOTO and Kazunori UMEDA:
  "Pushing operation with a mobile robot - acquisition of the motion information of object using the optical flow -,"
  Proc. 4th Japan-France Congress & 2nd Asia-Europe Congress on Mechatronics, Vol.2,pp.604-607 1998.10.

• Yohei ARAGAKI and Kazunori UMEDA:
  "Measuring self-position of mobile robots using fused results of range images and intensity images,"
  Proc. 4th Japan-France Congress & 2nd Asia-Europe Congress on Mechatronics, Vol.2, pp.618-623, 1998.10.

• Kazunori UMEDA, Isao FURUSAWA and Shinya TANAKA:
  "Recognition of Hand Gestures Using Range Images,"
  Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1727-1732, 1998.10.

1997

Academic Paper

• Umeda, K., Arai T. :
  "3D vision system for mechanical assembly / disassembly,"
  Advanced robotics, 11, 2, pp.147-167, 1997.

International Conference

• Umeda, K., Ikushima, K. and Arai, T. :
  "3D shape recognition by distributed sensing of range images and intensity images,"
  Proc. 1997 IEEE Int. Conf. on Robotics and Automation, pp.149-154, 1997.

• Umeda, K., Kinoshita, G. and Osumi, H.:
  "Tactual Servoing on an Object's Surface with the Visual Information,"
  Proc. 1997 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 1997.

1996

International Conference

• Umeda, K., Arai, T., Ikushima, K. :
  "Fusion of Range Image and Intensity Image for 3D Shape Recognition,"
  Proc. 1996 IEEE Int. Conf. on Robotics and Automation, Vol.1, pp.680-685, 1996.

• Umeda, K. and Ikushima, K. :
  " Fusion of Range Images and Intensity Images Measured from Multiple View Points,"
  3rd Int. Symp. on Distributed Autonomous Robotic Systems, pp.411-422, 1996.

• Umeda, K. and Suzuki, N. :
  " Gesture Recognition of Head Motion Using Range Images,"
  Proc. 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.3, pp.1594-1599, 1996.

• Osumi, H., Miyashita, T., Umeda, K. and Kinoshita, G. :
  " Sensing of Contact Point between a Grasped Object and Environment by Tactual Behavior of a Parallel Two-Fingered Hand,"
  Proc. 1996 IEEE/SICE/RSJ Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, pp.227-232, 1996.

• Umeda, K., Ota, J., Kimura, H. :
  " Fusion of Multiple Ultrasonic Sensor Data and Imagery Data for Measuring Moving Obstacle's Motion,"
  Proc. 1996 IEEE/SICE/RSJ Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, pp.742-748,1996.

Other

• "Ultrasonic Sensor System for Obstacle Avoidance",
  New Tecnology Japan, 96-05-003-03, Vol.24, No.2, p.22, 1996.

1995

International Conference

• Umeda, K., Arai, T., Tabuchi, M., Ikushima, K. :
  "Strategy and Fundamental Algorithms of Fusing Range Image and Intensity Image for Object Recognition,"
  Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.3, pp.216-221, 1995.

1994

Academic Paper

• Umeda, K., Arai, T. :
  "Fast Vision System for Bin-Picking Using Sparse Range Image,"
  Journal of Advanced Automation and Technology, 6, 6, pp.371-376, 1994.

International Conference

• Umeda, K., Arai, T. :
  " Industrial Vision System by Fusing Range Image and Intensity Image,"
  Proc. 1994 IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems, pp.337-344, 1994.

Before 1993

International Conference

• Arai, T., Umeda, K.
  "Vision System for Part Disassembly Using a High-Speed Range Sensor"
  Proc. IEEE/Tsukuba Int. Workshop on Advanced Robotics, pp.59-64, 1993.