研究者データベース

伊達 宏昭(ダテ ヒロアキ)
情報科学研究院 システム情報科学部門 システム創成学分野
准教授

基本情報

所属

  • 情報科学研究院 システム情報科学部門 システム創成学分野

職名

  • 准教授

学位

  • 博士(工学)(北海道大学)

ホームページURL

科研費研究者番号

  • 20374605

J-Global ID

研究キーワード

  • レーザ計測点群   リバースエンジニアリング   CAD   サイバーフィールド   CAE   形状モデリング   

研究分野

  • ものづくり技術(機械・電気電子・化学工学) / 機械要素、トライボロジー
  • ものづくり技術(機械・電気電子・化学工学) / 設計工学
  • ものづくり技術(機械・電気電子・化学工学) / 加工学、生産工学

職歴

  • 2010年01月 - 現在 北海道大学大学院情報科学研究科 システム情報科学専攻 准教授
  • 2007年 - 2009年12月 北海道大学 大学院・情報科学研究科 助教

学歴

  • 2000年04月 - 2003年03月   北海道大学   工学研究科   システム情報工学専攻
  • 1998年04月 - 2000年03月   北海道大学   工学研究科   システム情報工学専攻
  •         - 1998年03月   北海道大学   工学部   精密工学科

所属学協会

  • 情報処理学会   精密工学会   

研究活動情報

論文

  • Simple Textured Polygon Model Generation from Multiple TLS Point Clouds
    Shinichiro Imai, Hiroaki Date, Satoshi Kanai, Yoshinori Moribe, Masaki Nakamura
    Proceedings of the 18th International Conference on Precision Engineering 2020年 [査読有り][通常論文]
  • DETECTION OF INDOOR ATTACHED EQUIPMENT FROM TLS POINT CLOUDS USING PLANAR REGION BOUNDARY
    Hayato Takahashi, Hiroaki Date, Satoshi Kanai, Kazunari Yasutake
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLIII-B2-2020 495 - 500 2020年 [査読有り]
  • EXTRACTION OF ROAD EDGES FROM MLS POINT CLOUDS USING BEND ANGLE OF SCANLINES
    Ryohei Honma, Hiroaki Date, Satoshi Kanai
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLIII-B2-2020 1091 - 1097 2020年 [査読有り]
  • PLAUSIBLE RECONSTRUCTION OF AN APPROXIMATED MESH MODEL FOR NEXT-BEST VIEW PLANNING OF SFM-MVS
    Ryota Moritani, Satoshi Kanai, Hiroaki Date, Yasuhito Niina, Ryohei Honma
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLIII-B2-2020 465 - 471 2020年 [査読有り]
  • Free-Form Feature Classification for Finite Element Meshing-based on Shape Descriptors and Machine Learning
    Ippei Takaishi, Satoshi Kanai, Hiroaki Date, Hideyoshi Takashima
    Computer-Aided Design and Applications 17 5 1049 - 1066 2020年 [査読有り]
  • Automatic Indoor Environment Modeling from Laser-scanned Point Clouds using Graph-based Regular Arrangement Recognition
    Hayato Takahashi, Hiroaki Date, Satoshi Kanai
    Proceedings of the 4th International Conference on Civil and Building Engineering Informatics 368 - 375 2019年11月 [査読有り][通常論文]
  • Segmentation and LOD model generation of buildings from MMS point clouds of urban area
    Takuya Kanayana, Toshihide Mineushiro, Hiroaki Date, Satoshi Kanai
    精密工学会誌 85 10 912 - 918 2019年10月 [査読有り][通常論文]
  • QUALITY PREDICTION OF DENSE POINTS GENERATED BY STRUCTURE FROM MOTION FOR HIGH-QUALITY AND EFFICIENT AS-IS MODEL RECONSTRUCTION
    R. Moritani, S. Kanai, H. Date, Y. Niina, R. Honma
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLII-2 W13 95 - 101 2019年06月 [査読有り][通常論文]
  • MLS POINT CLOUD SEGMENTATION BASED ON FEATURE POINTS OF SCANLINES
    R. Honma, H. Date, S. Kanai
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLII-2 W13 1007 - 1013 2019年06月 [査読有り][通常論文]
  • TLS POINT CLOUD REGISTRATION BASED ON ICP ALGORITHM USING POINT QUALITY
    H. Date, E. Wakisaka, Y. Moribe, S. Kanai
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLII-2 W13 963 - 968 2019年06月 [査読有り][通常論文]
  • Optimal Laser Scan Planning for As-Built Modeling of Plant Renovations Using Mathematical Programming
    Eisuke Wakisaka, Satoshi Kanai, Hiroaki Date
    Proceedings of 2019 International Symposium on Automation and Robotics in Construction 91 - 98 2019年05月 [査読有り][通常論文]
  • Free-form Feature Classification for Finite Element Meshing based on Shape Descriptors and Machine Learning
    Ippei Takaishi, Satoshi Kanai, Hiroaki Date, Hideyoshi Takashima
    Proc. 16th Annual International CAD Conference 414 - 419 2019年05月 [査読有り][通常論文]
  • 鋳造品の迅速リバースエンジニアリングに関する研究-鋳肌面と機械加工面の分離に基づく面属性付きの整形ソリッドモデルの生成-
    浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季
    精密工学会誌 85 3 267 - 273 2019年03月 [査読有り][通常論文]
  • Kazuya Kobayashi, Satoru Wakasa, Koji Sato, Satoshi Kanai, Hiroaki Date, Satomi Kimura, Noriko Oyama-Manabe, Yoshiro Matsui
    Physics in medicine and biology 64 5 055009 - 055009 2019年02月25日 [査読有り][通常論文]
     
    Regional cardiac function analysis is important for the diagnosis and treatment planning of ischemic heart disease, but has not been sufficiently developed in the field of computed tomography (CT). Therefore, we propose a 3D endocardial tracking framework for cardiac CT using local point cloud registration based on the iterative closest point with an integrated scale estimation algorithm. We also introduce regional function descriptors that express the curvature and stretching of the endocardium: Surface distortion (E) and Scaling rate (S). For a region-to-region comparison, we propose endocardial segmentation according to coronary perfusion territories defined by the Voronoi partition based on coronary distribution. Our study of 65 endocardial segments in ten subjects showed that global endocardial deformation has a positive relationship with the stroke volume index (r  =  0.896 and 0.829 in [Formula: see text] and [Formula: see text], respectively) and ejection fraction (r  =  0.804 and 0.835), and a positive relationship with the brain natriuretic peptide level (r  =  0.690 and 0.776). A positive relationship between segmental E and S (r  =  0.845), a higher value of E in ischemic segments (p   =  0.021) that are determined by fractional flow reserve estimated from coronary CT data, and a higher value of S in the left circumflex artery territory (p   <  0.05) were also observed. The required radiation dose was 5.0  ±  0.7 mSv and the computation time was 7.2  ±  1.1 min. The result suggests that proposed endocardial deformation analysis using CT can be conducted on site and in time for the acute setting, and may be useful for the diagnosis of cardiac dysfunction or myocardial ischemia.
  • Ryota Moritani, Satoshi Kanai, Hiroaki Date, Masahiro Watanabe, Takahiro Nakano, Yuta Yamauchi
    Computer-Aided Design & Applications 16 3 396 - 412 CAD} Solutions, {LLC 2019年01月 [査読有り][通常論文]
  • Optimal Laser Scan Planning of Terrestrial Laser Scanner for As-built Modeling of HVAC Systems using Integer Programming
    Eisuke Wakisaka, Satoshi Kanai, Hiroaki Date
    Proc. International Conference on Precision Engineering D-5-4  2018年11月 [査読有り][通常論文]
  • Development of Fast Posture Change Method for FE-Model of the Human Body Based on Mesh Deformation
    Kazuma Hirosawa, Mitsunori Tada, Natsuki Miyata, Satoshi Kanai, Hiroaki Date
    Proc. Asian Conference on Design and Digital Engineering PaperID_27  2018年11月 [査読有り][通常論文]
  • Segmentation and LOD Model Generation of Buildings from MMS Point Clouds of Urban Area
    Takuya Kanayama, Toshihide Mineushiro, Hiroaki Date, Satoshi Kanai
    Proc. International Conference on Precision Engineering D-5-3  2018年11月 [査読有り][通常論文]
  • Ryota Moritani, Satoshi Kanai, Hiroaki Date, Masahiro Watanabe, Takahiro Nakano, Yuta Yamauchi
    Computer-Aided Design and Applications 15 5 720 - 733 2018年09月03日 [査読有り][通常論文]
     
    In this study, a novel algorithm for cylinder-based registration and model fitting of laser-scanned point clouds was proposed. The algorithm was designed specifically for as-built modeling of a plant piping system. In contrast with Iterative Closest Point (ICP)-based methods, fine registration and model fitting were performed simultaneously, by solving a single nonlinear constraint equation. This prevented alignment error arising in registration from propagating to model fitting. Coarse registration was automated by identifying cylindrical surfaces and by finding matches among their cylinder axes using a random sample consensus (RANSAC) method. The accuracy and robustness of the proposed algorithm was first confirmed using scan simulations. It performed well even when there was zero overlap between scans, and was demonstrated to achieve better modeling accuracy than ICP-based methods. The algorithm was then applied to point clouds scanned from a real plant, with successful results. The proposed algorithm achieves as-built modeling accuracies that would be fully acceptable when conducting renovation work on existing piping systems.
  • 空調設備のas-builtモデル構築のための地上型レーザスキャナの最適配置計画
    脇坂 英佑, 金井 理, 伊達 宏昭
    精密工学会誌 84 8 738 - 745 2018年08月 [査読有り][通常論文]
  • Cylinder-based Efficient And Robust Registration And Model Fitting Of Laser-scanned Point Clouds For As-built Modeling Of Piping Systems
    Ryota Moritani, Satoshi Kanai, Hiroaki Date, Masahiro Watanabe, Takahiro Nakano, Yuta Yamauchi
    Proc. CAD'18 262 - 267 2018年07月 [査読有り][通常論文]
  • Generation Of Solid Models With Surface Properties From Scanned Triangular Meshes Of Castings
    Akihisa Urata, Hiroaki Date, Satoshi Kanai
    Proc. CAD'18 342 - 346 2018年07月 [査読有り][通常論文]
  • Automated recognition and 3D CAD modeling of standardized steel bridge members in a laser scan
    Satoshi Kanai, Motoaki Hashikawa, Hiroaki Date
    Proc. 17th International Conference on Computing in Civil and Building Engineering 2018年06月 [査読有り][通常論文]
  • MULTIPLE TLS POINT CLOUD REGISTRATION BASED ON POINT PROJECTION IMAGES
    Taiki Sumi, Hiroaki Date, Satoshi Kanai
    Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. XLII-2 1083 - 1090 2018年06月 [査読有り][通常論文]
  • Eisuke Wakisaka, Satoshi Kanai, Hiroaki Date
    Computer-Aided Design and Applications 15 3 353 - 366 2018年05月04日 [査読有り][通常論文]
     
    Recently, terrestrial laser scanners (TLSs) have been introduced to efficient as-built three-dimensional (3D) modeling in the heating, ventilating, and air-conditioning (HVAC) industry. When scanning the highly tangled installation of piping objects in HVAC systems using TLS, it is difficult to manually decide feasible scanner placement to scan the necessary regions of objects for construction with high accuracy and high point density and without any occlusion. Therefore, in this paper, we propose a model-based next-best-view planning method for TLS. The method uses a coarse 3D model generated by structure-from-motion (SfM), and it finds the near-optimum scanner placement that maximizes scan coverage while satisfying the constraints on the factors influencing scan quality such as beam incident angle, scan range, and scan overlap. The constraints are imposed based on user-specified scanning priority levels. Scanner placement is determined based on voxel-based space occupancy classification. The superiority of scanner placement by using the proposed method is verified through a comparative evaluation of the modeling accuracy with scanner placement by an experienced operator.
  • Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date
    Automation in Construction 85 193 - 208 2018年01月01日 [査読有り][通常論文]
     
    Tripping-related falls are the leading cause of unintentional deaths in the elderly. Tripping risk must be evaluated by considering intrinsic and extrinsic factors affecting the interactions between humans and the environment. The goal of this study is to develop a new tripping risk evaluation system based on human behavior simulation in an “as-is” environment model, i.e., environment model reflecting detailed environmental geometry. First, a three-dimensional (3D) as-is environment model is automatically constructed from laser-scanned point clouds in the environment. From this model, potential tripping-hazard regions are automatically detected. Finally, the tripping risk of detected hazard region is quantitatively evaluated based on a combined human behavior and Monte Carlo simulation. The simulated tripping risk is compared with that measured using real humans, and it is revealed that the dimensional limit of risk evaluation accuracy in terms of barrier height on a walking terrain is very close to 10 mm.
  • Hiroaki Date, Takahito Yokoyama, Satoshi Kanai, Yoshiro Hada, Manabu Nakao, Toshiya Sugawara
    International Journal of Automation Technology 12 3 328 - 338 2018年 [査読有り][通常論文]
  • Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date, Mitsunori Tada
    ISPRS INTERNATIONAL JOURNAL OF GEO-INFORMATION 6 9 267 - 288 2017年09月 [査読有り][通常論文]
     
    As recommended by the international standards, ISO 21542, ease of wayfinding must be ensured by installing signage at all key decision points on walkways such as forks because signage greatly influences the way in which people unfamiliar with an environment navigate through it. Therefore, we aimed to develop a new system for evaluating the ease of wayfinding, which could detect spots that cause disorientation, i.e., "disorientation spots", based on simulated three-dimensional (3D) interactions between wayfinding behaviors and signage location, visibility, legibility, noticeability, and continuity. First, an environment model reflecting detailed 3D geometry and textures of the environment, i.e., "as-is environment model", is generated automatically using 3D laser-scanning and structure-from-motion (SfM). Then, a set of signage entities is created by the user. Thereafter, a 3D wayfinding simulation is performed in the as-is environment model using a digital human model (DHM), and disorientation spots are detected. The proposed system was tested in a virtual maze and a real two-story indoor environment. It was further validated through a comparison of the disorientation spots detected by the simulation with those of six young subjects. The comparison results revealed that the proposed system could detect disorientation spots, where the subjects lost their way, in the test environment.
  • Yoshiro Hada, Manabu Nakao, Moyuru Yamada, Hiroki Kobayashi, Naoyuki Sawasaki, Katsunori Yoko Ji, Satoshi Kanai, Fumiki Tanaka, Hiroaki Date, Sarthak Pathak, Atsushi Yamashita, Manabu Yamada, Toshiya Sugawara
    Journal of Disaster Research 12 3 593 - 606 2017年06月01日 [査読有り][通常論文]
     
    Recently, many countries have faced serious problems associated with aging civil infra structures such as bridges, tunnels, dams, highways and so on. Aging infrastructures are increasing year by year and suitable maintenance actions are necessary to maintain their safety and serviceability. In fact, infrastructure deterioration has caused serious problems in the past. In order to prevent accidents with civil infrastructures, supervisors must spend a lot of money to maintain the safe conditions of infrastructures. Therefore, new technologies are required to reduce maintenance costs. In 2014 the Japanese government started the Cross-Ministerial Strategic Innovation Promotion Program (SIP), and technologies for infrastructure maintenance have been studied in the SIP project [1]. Fujitsu Limited, Hokkaido University, The University of Tokyo, Nagoya Institute of Technology and Docon Co. Limited have been engaged in the SIP project to develop a bridge inspection support system using information technology and robotic technology. Our system is divided into the following two main parts: bridge inspection support robots using a two-wheeled multicopter, and an inspection data management system utilizing 3D modeling technology. In this paper, we report the bridge inspection support system developed in our SIP project.
  • 浦田昇尚, 伊達宏昭, 金井理, 後藤孝行, 安田星季
    精密工学会誌 83 5 474 - 480 2017年05月 [査読有り][通常論文]
  • Hiroki Maehama, Hiroaki Date, Satoshi Kanai
    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING 11 4 JAMDSM0045  2017年 [査読有り][通常論文]
     
    In current product design, CAE based on FEA has become absolutely imperative for developing high quality products. In some analyses of assembly models with movable parts such as electro-magnetic field analyses of motors, conformal tetrahedral meshes including meshes both of objects (parts) and space (called "object mesh" and "space mesh" in this paper) are needed. In general CAE processes, poses of moving parts of CAD models are first modified, then conformal meshes of the modified CAD models are generated, and FEAs are finally performed at each pose of the object in motion. However, simultaneous conformal meshing for objects and spaces is unstable and time-consuming. To reduce the frequency of the meshing, many mesh adaptation methods have been proposed. Although they can generate the conformal mesh of each object pose by modifying the mesh connectivity and vertex positions depending on the object motion, they are inefficient because the mesh topology and geometry are globally adapted even if the differences in poses of the objects in motion are very small In addition, they do not deal with contacts of the object meshes. In this paper, we propose a new efficient tetrahedral mesh adaptation method for moving objects with contact. For efficient mesh adaptation, the mesh adaptation process is applied to only a set of space mesh elements around the moving object based on a distance field. In addition, to keep mesh conformity on the contact regions between object meshes, the topology and geometry of surface triangular meshes of contacted object meshes are adapted by vertex repositioning and local topological operations. The proposed method is demonstrated using three samples. In an experimental result where a cylinder is translated toward a half tube, the conformal tetrahedral meshes with 160k tetrahedra were generated without any inverted elements for about 5 seconds in each motion step.
  • Automatic Registration of Laser-Scanned Point Clouds of Bridges using Linear Features
    H. Date, T. Yokoyama, S. Kanai, Y. Hada, M. Nakao, T. Sugawara
    2016 Asian Conference on Design and Digital Engineering 18-6  2016年10月 [査読無し][通常論文]
  • Efficient Conformal Tetrahedral finite Element mesh Generation for Moving Object with Contact by Mesh Adaptation
    H. Maehama, H. Date, S. Kanai
    2016 Asian Conference on Design and Digital Engineering 13-5  2016年10月 [査読無し][通常論文]
  • Reiji Yoshimura, Hiroaki Date, Satoshi Kanai, Ryohei Honma, Kazuo Oda, Tatsuya Ikeda
    Geo-Spatial Information Science 19 3 171 - 181 2016年07月02日 [査読有り][通常論文]
     
    Recent advances in 3D scanning technologies allow us to acquire accurate and dense 3D scan data of large-scale environments efficiently. Currently, there are various methods for acquiring large-scale 3D scan data, such as Mobile Laser Scanning (MLS), Airborne Laser Scanning, Terrestrial Laser Scanning, photogrammetry and Structure from Motion (SfM). Especially, MLS is useful to acquire dense point clouds of road and road-side objects, and SfM is a powerful technique to reconstruct meshes with textures from a set of digital images. In this research, a registration method of point clouds from vehicle-based MLS (MLS point cloud), and textured meshes from the SfM of aerial photographs (SfM mesh), is proposed for creating high-quality surface models of urban areas by combining them. In general, SfM mesh has non-scale information therefore, scale, position, and orientation of the SfM mesh are adjusted in the registration process. In our method, first, 2D feature points are extracted from both SfM mesh and MLS point cloud. This process consists of ground- and building-plane extraction by region growing, random sample consensus and least square method, vertical edge extraction by detecting intersections between the planes, and feature point extraction by intersection tests between the ground plane and the edges. Then, the corresponding feature points between the MLS point cloud and the SfM mesh are searched efficiently, using similarity invariant features and hashing. Next, the coordinate transformation is applied to the SfM mesh so that the ground planes and corresponding feature points are adjusted. Finally, scaling Iterative Closest Point algorithm is applied for accurate registration. Experimental results for three data-sets show that our method is effective for the registration of SfM mesh and MLS point cloud of urban areas including buildings.
  • Laser-scanned as-built 3D modeling of air-conditioning ducts based on Manhattan world assumption
    M. Narumi, S. Kanai, H. Date, E. Wakisaka, S. Sakamoto
    15th International Conference on Computing in Civil and Building Engineering 287  2016年07月 [査読有り][通常論文]
  • デプスカメラと地上型レーザスキャナを組み合わせた3次元Monte-Carlo自己位置推定手法の開発
    金井理, 畠山龍, 伊達宏昭
    写真測量とリモートセンシング 55 4 235 - 239 2016年 [査読有り][通常論文]
  • Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2016, VOL 1A IDETC2016-59170  2016年 [査読有り][通常論文]
     
    Elderly and disabled individuals must be able to access the indoor and outdoor environment in an easy and safe manner. Accessibility must be assessed not only in terms of physical friendliness for users, but also of cognitive friendliness such as the ease of wayfinding. To ensure the ease of wayfinding, signage information available at every key decision point is essential because it enables people to find their way in unfamiliar environment. The aim of the present study is to develop virtual accessibility evaluation system that evaluates the environment accessibility from the cognitive friendliness aspect, such as the ease of wayfinding, by combining realistic human behavior simulation using a digital human model (DHM) with as-is environment models. To realize this system, we develop a vision-based wayfinding simulation algorithm for the DHM in textured three-dimensional (3D) as-is, environment models. The as-is environment models are constructed with the structure-from-motion (SfM) technique. During the wayfinding simulation, the visibility and legibility of each sign are evaluated on the basis of the visual perception of the DHM and its visibility catchment area (VCA). The DHM walking trajectory is dynamically generated depending on the perceived sign. When a disorientation place is detected where the DHM cannot find any sign indicating its destination, plans for rearranging the signs are proposed by the simulation user and then examined using a developed virtual eyesight simulator (VES). The VES enables the user to check the DHM eyesight virtually during the wayfinding simulation through a head mounted display. To mimic visual impairments, visual impairment filters are introduced into the VES. In this paper, we demonstrate the process of detecting the disorientation place, and planning and evaluating the rearranged signage.
  • Motion-capture-based walking simulation of digital human adapted to laser-scanned 3D as-is environments for accessibility evaluation.
    Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date, Mitsunori Tada
    J. Computational Design and Engineering 3 3 250 - 265 2016年 [査読有り][通常論文]
  • Automatic Registration of MLS Point Clouds and SfM Meshes of Urban Area
    R. Yoshimura, H. Date, S. Kanai, R. Honma, K. Oda, T. Ikeda
    The 9th International Symposium on Mobile Mapping Technology #195  2015年12月 [査読無し][通常論文]
  • Automatic Robust Registration of MLS Point Clouds of Urban Area
    H. Date, S. Takai, S. Kanai, R. Honma, K. Oda, T. Ikeda
    The 9th International Symposium on Mobile Mapping Technology #201  2015年12月 [査読無し][通常論文]
  • Surface extraction based on roughness for rapid reverse engineering of castings
    A. Urata, S. Kanai, H. Date, T.Gotoh, S.Yasuda
    2015 Asian Conference on Design and Digital Engineering 40 2015年11月 [査読有り][通常論文]
  • Motion-capture-based walking simulation adapted to laser-scanned large-scale complex as-built environments for accessibility evaluation
    T. Maruyama, S. Kanai, H. Date, Mitsunori Tada
    Proc. of 8th Asian-Pacific Conference on Biomechanics PS3-15  2015年09月 [査読無し][通常論文]
  • Satoshi Kanai, R. Hatakeyama, H. Date
    International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 40 4 61 - 66 2015年05月11日 [査読有り][通常論文]
     
    Effective and accurate localization method in three-dimensional indoor environments is a key requirement for indoor navigation and lifelong robotic assistance. So far, Monte Carlo Localization (MCL) has given one of the promising solutions for the indoor localization methods. Previous work of MCL has been mostly limited to 2D motion estimation in a planar map, and a few 3D MCL approaches have been recently proposed. However, their localization accuracy and efficiency still remain at an unsatisfactory level (a few hundreds millimetre error at up to a few FPS) or is not fully verified with the precise ground truth. Therefore, the purpose of this study is to improve an accuracy and efficiency of 6DOF motion estimation in 3D MCL for indoor localization. Firstly, a terrestrial laser scanner is used for creating a precise 3D mesh model as an environment map, and a professional-level depth camera is installed as an outer sensor. GPU scene simulation is also introduced to upgrade the speed of prediction phase in MCL. Moreover, for further improvement, GPGPU programming is implemented to realize further speed up of the likelihood estimation phase, and anisotropic particle propagation is introduced into MCL based on the observations from an inertia sensor. Improvements in the localization accuracy and efficiency are verified by the comparison with a previous MCL method. As a result, it was confirmed that GPGPU-based algorithm was effective in increasing the computational efficiency to 10-50 FPS when the number of particles remain below a few hundreds. On the other hand, inertia sensor-based algorithm reduced the localization error to a median of 47mm even with less number of particles. The results showed that our proposed 3D MCL method outperforms the previous one in accuracy and efficiency.
  • Optimal setup of a terrestrial laser scanner for capturing piping objects in plants
    S. Kanai, S. Yamanishi, H. Date
    Proc. of the 2nd International Conference on Civil and Building Engineering Informatics #30  2015年04月 [査読有り][通常論文]
  • S. Kanai, R. Hatakeyama, H. Date
    Indoor-Outdoor Seamless Modelling, Mapping and Navigation 44 W5 61 - 66 2015年 [査読有り][通常論文]
     
    Effective and accurate localization method in three-dimensional indoor environments is a key requirement for indoor navigation and lifelong robotic assistance. So far, Monte Carlo Localization (MCL) has given one of the promising solutions for the indoor localization methods. Previous work of MCL has been mostly limited to 2D motion estimation in a planar map, and a few 3D MCL approaches have been recently proposed. However, their localization accuracy and efficiency still remain at an unsatisfactory level (a few hundreds millimetre error at up to a few FPS) or is not fully verified with the precise ground truth. Therefore, the purpose of this study is to improve an accuracy and efficiency of 6DOF motion estimation in 3D MCL for indoor localization. Firstly, a terrestrial laser scanner is used for creating a precise 3D mesh model as an environment map, and a professional-level depth camera is installed as an outer sensor. GPU scene simulation is also introduced to upgrade the speed of prediction phase in MCL. Moreover, for further improvement, GPGPU programming is implemented to realize further speed up of the likelihood estimation phase, and anisotropic particle propagation is introduced into MCL based on the observations from an inertia sensor. Improvements in the localization accuracy and efficiency are verified by the comparison with a previous MCL method. As a result, it was confirmed that GPGPU-based algorithm was effective in increasing the computational efficiency to 10-50 FPS when the number of particles remain below a few hundreds. On the other hand, inertia sensor-based algorithm reduced the localization error to a median of 47mm even with less number of particles. The results showed that our proposed 3D MCL method outperforms the previous one in accuracy and efficiency.
  • 前濱宏樹, 伊達宏昭, 金井理
    精密工学会誌 81 4 368 - 375 2015年 [査読有り][通常論文]
  • Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date
    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 9185 193 - 204 2015年 [査読有り][通常論文]
     
    Accessibility evaluation to enhance accessibility and safety for the elderly and disabled is increasing in importance. Accessibility must be assessed not only from the general standard aspect but also in terms of physical and cognitive friendliness for users of different ages, genders, and abilities. Human behavior simulation has been progressing in crowd behavior analysis and emergency evacuation planning. This research aims to develop a virtual accessibility evaluation by combining realistic human behavior simulation using a digital human model (DHM) with as-built environmental models. To achieve this goal, we developed a new algorithm for generating human-like DHM walking motions, adapting its strides and turning angles to laser-scanned as-built environments using motion-capture (MoCap) data of flat walking. Our implementation quickly constructed as-built three-dimensional environmental models and produced a walking simulation speed sufficient for real-time applications. The difference in joint angles between the DHM and MoCap data was sufficiently small. Demonstrations of our environmental modeling and walking simulation in an indoor environment are illustrated.
  • Variational hand modeling and its application to statistical analysis of grasp comfort
    S. Kanai, Y. Xie, H.Date
    Proc. of 2014 Asian Conference on Design and Digital Engineering S08  2014年10月 [査読無し][通常論文]
  • Enabling human-like walking of digital human model in laser-scanned large-scale as-built environment
    T. Maruyama, S. Kanai, H. Date
    Proc. of 2014 Asian Conference on Design and Digital Engineering S05  2014年10月 [査読無し][通常論文]
  • Registration of Point Clouds of Large Scale Environments using Point Projection Images
    H. Date, Y. Matsuyama, S. Kanai
    Proc. of the 15th International Conference on Precision Engineering D31  2014年07月 [査読有り][通常論文]
  • Segmentation, Dimension-Driven Deformation, and Quality Improvement of Tetrahedral Mesh Models for Finite Element Analysis
    H. Maehama, H. Date, S. Kanai
    Proc. of the 15th International Conference on Precision Engineering D30  2014年07月 [査読有り][通常論文]
  • MR-based 3D prototyping for information appliances using random dot markers and fingernail color detection
    S. Kanai, H. Date, J. Guan
    Proc. of the 15th International Conference on Precision Engineering P37  2014年07月 [査読有り][通常論文]
  • Estimating Grasp Comfort using 3D Geometric and Musculoskeletal Models of the Human Hand
    S. Kanai, Y. Xie, H. Date
    Proc. of Digital Human Modeling Symposium 2014 #37  2014年05月 [査読無し][通常論文]
  • Hiroaki Date, Takashi Maeno, Satoshi Kanai
    Computer-Aided Design and Applications 11 6 685 - 693 2014年01月01日 [査読有り][通常論文]
     
    In this paper, a rendering method of the laser scanned point clouds of large scale environments is proposed for supporting an easy and intuitive understanding of the scanned environments. In this method, an adaptive primitives selection model and hierarchical point representation are used in the rendering of the scanned environment. Local geometry of the objects are estimated by principal component analysis, and the graphic primitives for points are adaptively created for effective rendering. View-dependent LOD using point hierarchy and an adaptive primitives selection model are also achieved for efficient rendering. Some rendering results for point clouds acquired from different scanning systems are shown and compared with other methods.
  • Hiroki Maehama, Hiroaki Date, Satoshi Kanai
    Computer-Aided Design and Applications 11 6 622 - 631 2014年01月01日 [査読有り][通常論文]
     
    ABSTRACT: For realizing efficient product shape design, many dimension-driven mesh deformation methods have been proposed. However, the deformed mesh models often include many distorted elements, and lose the original mesh properties (mesh density and shape approximation accuracy). To solve these problems, we propose a quality improvement method for the deformed tetrahedral mesh models. Our method is based on Optimal Delaunay Triangulation (ODT) smoothing with edge split and edge collapse. In our method, element shape qualities are improved from the boundary to the inside of the mesh model, and original mesh properties are recovered in the deformed mesh models by an additional step in the ODT smoothing. In addition, degenerated and inverted elements are removed by local topological operations. The effectiveness of our method is demonstrated by applications to some simple mesh models.
  • Satoshi Kanai, Hiroaki Date
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2013, VOL 2B DETC2013-12931  2014年 [査読有り][通常論文]
     
    Recently 3D digital prototypes of information appliances have been proposed for efficient user acceptance tests of user-interface (UI) usability. The purpose of this research is to develop a gaze estimation system based on Homography and to fully integrate it with a 3D digital prototype of the information appliances in order to obtain information more useful for usability assessment. The estimation system consists only of four infrared LEDs and a USB camera and is low-cost. The gaze estimation enables the system not only to record a gaze point on the prototype but to identify the UI objects which the user is looking for in real time during the test session. A gaze-based index was newly introduced to identify the misleading UI objects and to quantify the irrelevance of the UI design. A case study suggested that the integration of the gaze estimation with the 3D digital prototype and the proposed index were useful for automatically identifying which irrelevant UI objects misled the users' operations which could not yet be captured in previous simple event logging of the user inputs.
  • K. Kawashima, S. Yamanishi, S. Kanai, H. Date
    International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 40 5 313 - 320 2014年 [査読有り][通常論文]
     
    Renovation of plant equipment of petroleum refineries or chemical factories have recently been frequent, and the demand for 3D as-built modelling of piping systems is increasing rapidly. Terrestrial laser scanners are used very often in the measurement for as-built modelling. However, the tangled structures of the piping systems results in complex occluded areas, and these areas must be captured from different scanner positions. For efficient and exhaustive measurement of the piping system, the scanner should be placed at optimum positions where the occluded parts of the piping system are captured as much as possible in less scans. However, this "next-best" scanner positions are usually determined by experienced operators, and there is no guarantee that these positions fulfil the optimum condition. Therefore, this paper proposes a computer-aided method of the optimal sequential view planning for object recognition in plant piping systems using a terrestrial laser scanner. In the method, a sequence of next-best positions of a terrestrial laser scanner specialized for as-built modelling of piping systems can be found without any a priori information of piping objects. Different from the conventional approaches for the next-best-view (NBV) problem, in the proposed method, piping objects in the measured point clouds are recognized right after an every scan, local occluded spaces occupied by the unseen piping systems are then estimated, and the best scanner position can be found so as to minimize these local occluded spaces. The simulation results show that our proposed method outperforms a conventional approach in recognition accuracy, efficiency and computational time.
  • 丸山翼, 金井理, 伊達宏昭
    精密工学会誌 80 8 755 - 762 2014年 [査読有り][通常論文]
  • Hiroaki Date, Takashi Maeno, Satoshi Kanai
    Computer-Aided Design and Applications 11 6 685 - 693 2014年01月01日 [査読有り][通常論文]
     
    In this paper, a rendering method of the laser scanned point clouds of large scale environments is proposed for supporting an easy and intuitive understanding of the scanned environments. In this method, an adaptive primitives selection model and hierarchical point representation are used in the rendering of the scanned environment. Local geometry of the objects are estimated by principal component analysis, and the graphic primitives for points are adaptively created for effective rendering. View-dependent LOD using point hierarchy and an adaptive primitives selection model are also achieved for efficient rendering. Some rendering results for point clouds acquired from different scanning systems are shown and compared with other methods.
  • Hiroki Maehama, Hiroaki Date, Satoshi Kanai
    Computer-Aided Design and Applications 11 6 622 - 631 2014年01月01日 [査読有り][通常論文]
     
    ABSTRACT: For realizing efficient product shape design, many dimension-driven mesh deformation methods have been proposed. However, the deformed mesh models often include many distorted elements, and lose the original mesh properties (mesh density and shape approximation accuracy). To solve these problems, we propose a quality improvement method for the deformed tetrahedral mesh models. Our method is based on Optimal Delaunay Triangulation (ODT) smoothing with edge split and edge collapse. In our method, element shape qualities are improved from the boundary to the inside of the mesh model, and original mesh properties are recovered in the deformed mesh models by an additional step in the ODT smoothing. In addition, degenerated and inverted elements are removed by local topological operations. The effectiveness of our method is demonstrated by applications to some simple mesh models.
  • Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date
    Journal of Computational Design and Engineering 1 1 13 - 26 2014年01月01日 [査読有り][通常論文]
     
    Recently, renovations of plant equipment have been more frequent because of the shortened lifespans of the products, and as-built models from large-scale laser-scamied data is expected to streamline rebuilding processes. However, the laser-scanned data of an existing plant has an enormous amount ofpoints, captures inmcate objects, and includes a high noise level, so the manual reconstmction of a 3D model is very time-consuming and costly. Among plant equipment, piping systems account for the greatest proportion. Therefore, the purpose of this research was to propose an algorithm which could automatically recognize a piping system from the terrestrial laser- scanned data plant equipment. The straight pomon pipes, connecting parts, and connection relationship ofthe piping system can be recognized in this algorithm. Normal-based region growing and cylinder surface fitting can extract all possible locations ofpipes, including straight pipes, elbows, and junctions. Tracing the axes of a piping system enables the recognition of the positions of these elements and their connection relationship. Using only point clouds, the recognition algorithm can be performed in a fUlly automatic way. The algorithm was applied to large-scale scamied data of an oil rig and a chemical plant. Recognition rates of about 86%, 88%, and 71% were achieved straight pipes, elbows, andjunctions, respectively.
  • Making a Digital Human Walk Directly in the 3D Laser-scanned Point Clouds of Indoor Environments
    Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date
    Proc. International Conference on Civil and Building Engineering Informatics 69 - 76 2013年11月 [査読有り][通常論文]
  • Data Modeling and Geometry Registration for the Integrated Management of the BIM and Laser-scanned Point Clouds
    Shinya Yamaoka, Satoshi Kanai, Hiroaki Date
    Proc. International Conference on Civil and Building Engineering Informatics 55 - 63 2013年11月 [査読有り][通常論文]
  • Automatic recognition of piping system from laser scanned point clouds using normal-based region growing
    K. Kawashima, S. Kanai, H. Date
    Proc. of ISPRS Workshop Laser Scanning 2013 2013年11月 [査読有り][通常論文]
  • Accurate registration of MMS point clouds of urban areas using trajectory
    S. Takai, H. Date, S. Kanai, Y. Niina, K. Oda, T. Ikeda
    Proc. of ISPRS Workshop Laser Scanning 2013 2013年11月 [査読有り][通常論文]
  • Accessibility Evaluation of the as-built two-storey Large-scale Indoor Environments by combining Digital Human Model and Terrestrial Laser Scanners
    Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date
    Proc. 2013 Asian Conference on Design and Digital Engineering HRPC-1-1  2013年08月 [査読有り][通常論文]
  • Variational hand modeling based on image-based 3D model reconstruction
    Yulai Xie, Satoshi Kanai, Hiroaki Date
    Proc. 2013 Asian Conference on Design and Digital Engineering EAC-1-2  2013年08月 [査読有り][通常論文]
  • As-built modeling of piping system from terrestrial laser scanned point clouds using normal-based region-growing
    Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date
    Proc. 2013 Asian Conference on Design and Digital Engineering EAC-1-3  2013年08月 [査読有り][通常論文]
  • Segmentation of MMS Point Clouds of Urban Area Based on Principal Component Analysis
    Hiroaki Date, Teppei mori, Hiroki Yokoyama, Satoshi Kanai, Hiroshi Takeda
    2013 The International Symposium on Mobile Mapping Technology PaperNo.111  2013年04月 [査読有り][通常論文]
  • Tomohiro Mizoguchi, Satoshi Kanai, Hiroaki Date, Hiroyuki Tanaka
    Journal of Advanced Mechanical Design, Systems and Manufacturing 7 5 862 - 875 2013年 [査読有り][通常論文]
     
    Engineering objects often exhibit symmetries on their surfaces for functionality or aesthetics. Detecting such symmetries from their scanned meshes enables advanced applications, such as feature-based CAD model reconstruction or mesh size reduction for efficient CAE. In this paper, we propose a new method for detecting a common class of symmetries in engineering, such as translation, rotation and reflection, from scanned meshes of a variety of objects ranging from mechanical parts to aesthetic products. Major advantages of our proposed method over conventional ones are considerable robustness for scanner noise and exhaustive detection of multiple symmetries from a mesh. We demonstrate its effectiveness from various experiments on scanned meshes acquired by laser or CT scanners. We also show that surface distortions or deformations on the object surfaces can be evaluated using symmetries quantitatively. © 2013 by JSME.
  • Tsubasa Maruyama, Satoshi Kanai, Hiroaki Date
    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 8026 2 366 - 375 2013年 [査読有り][通常論文]
     
    Recently, human behavior simulations in 3-dimensional environment models have been enabled by the advance in computer performances. However, manually building the 3D models for the simulations are still costly and time-consuming, and the resultant models are sometimes inaccurate and do not necessarily reflect as-built environments. The final goal of our research is to realize the accessibility evaluation of "as-built" environments based on the human behavior simulation. To achieve the goal, in this study, we developed a technology where as-built 3D environment models could be constructed in a fully automatic way from laser-scanned 3D point clouds measured from as-built indoor environments. Additionally, we realized a basic walking simulation function in the as-built environment model represented by the point clouds. The modeling and simulation efficiency and accuracy were evaluated. © 2013 Springer-Verlag.
  • Yulai Xie, Satoshi Kanai, Hiroaki Date
    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 8026 2 384 - 392 2013年 [査読有り][通常論文]
     
    This study proposed a method to construct an anatomy-based variational modeling of a Digital Hand model, which can be used to efficiently generate various individual hand models with different dimensions for virtual ergonomic assessments. The skin surface of a generic hand model was hierarchically partitioned into 15 segments according to the hand surface anatomy. Then it was deformed by scaling and aligning the segments so that it satisfied individual hand dimensions. Moreover, the hand models of different hand postures with markers were reconstructed using a multi-view 3D model reconstruction technique. The extracted positions of markers were used to estimate the individual bone-link structure. The proposed method was validated through comparing the generated hand skin model which fitted the hand dimensions of a subject with his MRI-measured hand surface, and comparing the generated bone-link structure, which fitted joint motion of the subject, with the reconstructed hand models based on a multi-view 3D reconstruction technique. © 2013 Springer-Verlag.
  • Detection and Classification of Pole-like Objects from Mobile Laser Scanning Data of Urban Environments
    Hiroki Yokoyama, Hiroaki Date, Satoshi Kanai, Hiroshi Takeda
    International Journal of CAD/CAM 13 2 31 - 40 2013年 [査読有り][通常論文]
  • An Efficient Simulation of Skin Contact Deformation for Virtual Ergonomic Assessments of Handheld Products
    Yulai Xie, Satoshi Kanai, Hiroaki Date
    International Journal of CAD/CAM 13 2 81 - 95 2013年 [査読有り][通常論文]
  • Quality Improvement of Finite Element Mesh Models Modified by Mesh Deformation
    Hiroki Maehama, Hiroaki Date, Satoshi Kanai
    Proceedings of the 2012 Asian Conference on Design and Digital Engineering 100064  2012年12月 [査読有り][通常論文]
  • Automatic Recognition and Modeling of Piping System from Large-scale Terrestrial Laser Scanned Point Cloud
    Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date, Tae-wan Kim
    Proceedings of the 2012 Asian Conference on Design and Digital Engineering 100022  2012年12月 [査読有り][通常論文]
  • Adaptive Selection of Rendering Primitives for Point Clouds of Large Scale Environments
    Takashi Maeno, Hiroaki Date, Satoshi Kanai
    Proceedings of the 2012 Asian Conference on Design and Digital Engineering 100078  2012年12月 [査読有り][通常論文]
  • Detection and Classification of Pole-like Objects from Mobile Laser Scanning Data of Urban Environments
    Hiroki Yokoyama, Hiroaki Date, Satoshi Kanai, Hiroshi Takeda
    Proceedings of the 2012 Asian Conference on Design and Digital Engineering 100079  2012年12月 [査読有り][通常論文]
  • Constructing a deformable human hand model in contact for virtual ergonomic assessment
    Yulai XIE, Satoshi KANAI, Hiroaki DATE
    Proceedings of the 2012 Asian Conference on Design and Digital Engineering (ACDDE2012) Paper No.100047  2012年12月 [査読有り][通常論文]
  • Hiroaki Date, Yusuke Kaneta, Akihiro Hatsukaiwa, Masahiko Onosato, Satoshi Kanai
    Computer-Aided Design and Applications 9 2 187 - 197 2012年 [査読有り][通常論文]
     
    This paper describes a method of object recognition in terrestrial laser scan data of complex scenes. By local 3D shape matching between the CAD model mesh of the object and the laser scan data of the scene, the existence of the object is recognized and its location and orientation in the scene are extracted. Spin-images are used for shape matching. In this paper, some techniques for applying spin-image matching to the terrestrial laser scan data are proposed. They include robustness improvements for the scan noise and the differences in vertex densities by normal averaging and uniform point sampling, and efficient calculation by using multi-resolution images and geometric point filtering. © 2012 CAD Solutions, LLC.
  • Kazuaki Kawashima, Satoshi Kanai, Hiroaki Date
    EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV 523-524 932 - 938 2012年 [査読有り][通常論文]
     
    In recent years, changes in plant equipment have been becoming more frequent, and as-built modeling of plants from large-scale laser scanned data is expected to make their rebuilding processes more efficient. The purpose of our research was to propose an algorithm which can automatically recognize piping systems from massive terrestrial laser scanned point clouds of plants. Point clouds of a piping system can be extracted based on eigenvalue analysis and using region-growing from the laser scanned points. Eigenvalue analysis of the point clouds and point normals then allows for the recognition of straight portions of pipes. Connecting parts can also be recognized from the connection relationship between pipe axes and their neighboring scanned point distributions.
  • Yulai Xie, Satoshi Kanai, Hiroaki Date
    EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV 523-524 339 - 344 2012年 [査読有り][通常論文]
     
    The contact deformation of human skin is a significant factor in the virtual ergonomic assessment of handheld products, but previous works have neglected it or dealt with it in a simple way. In this paper, we propose a physical model of the contact deformation of human skin and, based on this model, present an efficient contact solving method to simulate the physical contact of the Digital Hand with product surfaces. The realistic contact deformation effect was realized, and we experimentally verified the estimated contact area, contact force and pressure distribution, and found the estimation results by the proposed model and the contact solving method well fit with the experimental data and the past data from the literature.
  • Hiroaki Date, Yusuke Kaneta, Akihiro Hatsukaiwa, Masahiko Onosato, Satoshi Kanai
    Computer-Aided Design and Applications 9 2 187 - 197 2012年 [査読有り][通常論文]
     
    This paper describes a method of object recognition in terrestrial laser scan data of complex scenes. By local 3D shape matching between the CAD model mesh of the object and the laser scan data of the scene, the existence of the object is recognized and its location and orientation in the scene are extracted. Spin-images are used for shape matching. In this paper, some techniques for applying spin-image matching to the terrestrial laser scan data are proposed. They include robustness improvements for the scan noise and the differences in vertex densities by normal averaging and uniform point sampling, and efficient calculation by using multi-resolution images and geometric point filtering. © 2012 CAD Solutions, LLC.
  • 川島千明, 金井理, 伊達宏昭
    精密工学会誌 78 8 722 - 729 2012年 [査読有り][通常論文]
  • Constructing a Finger Biomechanical Model for Virtual Ergonomic Assessment in Digital Hand
    Yasutomo Shimizu, Hiroaki Date, Satoshi Kanai
    Proceedings of Asian Conference on Design and Digital Engineering 2011 1 543 - 547 2011年08月 [査読有り][通常論文]
  • 3D Digital Prototyping of Information Appliances based on Mixed Reality with Markerless Tracking
    Satoshi Kanai, Hiroaki Date, Keita Uchiyama
    Proceedings of Asian Conference on Design and Digital Engineering 2011 1 325 - 328 2011年08月 [査読有り][通常論文]
  • Kensuke Sato, Hiroaki Date, Masahiko Onosato
    International Journal on Interactive Design and Manufacturing 5 2 133 - 136 2011年06月 [査読有り][通常論文]
     
    In this paper, we propose a method for matching, combinations extraction and configuration of mesh models for assembly and geometric modeling. Given two mesh models, a graph is first generated for each model. This graph, called a "feature-graph", represents abstract geometry information and connections of segments (local regions) for the model. Next, a set of pairs of segments which can be matched are extracted by performing sequential matching tests on the graphs. Finally, using the resulting pairs, the configuration between the models is determined by phased registrations keeping previous contact condition. An example of application to assembly modeling is included. © 2011 Springer-Verlag.
  • T. Maeno, H. Date, S. Kanai
    ISPRS WORKSHOP LASER SCANNING 2011 38-5 W12 203 - 208 2011年 [査読有り][通常論文]
     
    Recently, with the progress of laser scanning technology, it has become possible to scan several environments such as buildings, roads, and cities easily and at a low cost. There are typically three scanning methods: TLS (Terrestrial Laser Scanning), MMS (Mobile Mapping System), and ALS (Airborne Laser Scanning), and the environments are scanned for measurement, modelling, and simulation etc. Therefore, an efficient and comprehensive data management method, which can handle these point clouds in various applications is strongly required. In this paper, we describe a method of data management for efficient search and rendering of multiple large scale point clouds. First, we define a general point cloud file format including the octree and the quantization structure. Next, the data management method enabling an efficient search and rendering of the point clouds is proposed. Finally, the effectiveness of our method is verified using several actual data sets.
  • H. Yokoyama, H. Date, S. Kanai, H. Takeda
    ISPRS WORKSHOP LASER SCANNING 2011 38-5 W12 115 - 120 2011年 [査読有り][通常論文]
     
    With the spread of the Mobile Laser Scanning (MLS) system, the demands for the management of road and facilities using MLS point clouds have increased. Especially, pole-like objects such as streetlights, utility poles, street signs and etc. are in high demand as facilities to be managed. We propose a method for recognizing pole-like objects from MLS point clouds. Our method is based on Laplacian smoothing using the k-nearest neighbors graph, Principal Component Analysis for recognizing points on pole-like objects, and thresholding for the degree of pole-like objects. Our method can robustly recognize pole-like objects with various radii and tilt angles from MLS point clouds. For correctly segmented objects, accuracy of pole-like object recognition is on average 97.4%.
  • K. Kawashima, S. Kanai, H. Date
    ISPRS WORKSHOP LASER SCANNING 2011 38-5 W12 283 - 288 2011年 [査読有り][通常論文]
     
    Recently, changes in plant equipment have been becoming more frequent because of the short lifetime of the products, and constructing 3D shape models of existing plants (as-built models) from large-scale laser scanned data is expected to make their rebuilding processes more efficient. However, the laser scanned data of the existing plant has massive points, captures tangled objects and includes a large amount of noises, so that the manual reconstruction of a 3D model is very time-consuming and costs a lot. Piping systems especially, account for the greatest proportion of plant equipment. Therefore, the purpose of this research was to propose an algorithm which can automatically recognize a piping system from terrestrial laser scan data of the plant equipment. The straight portion of pipes, connecting parts and connection relationship of the piping system can be recognized in this algorithm. Eigenvalue analysis of the point clouds and of the normal vectors allows for the recognition. Using only point clouds, the recognition algorithm can be applied to registered point clouds and can be performed in a fully automatic way. The preliminary results of the recognition for large-scale scanned data from an oil rig plant have shown the effectiveness of the algorithm.
  • Efficient Cutaway Model Generation for Interactive Cutaway Viewing system
    Hiroaki Date, Hiromu Furukawa, Masahiko Onosato
    Proceedings of IDMME - Virtual Concept 2010 2010年10月 [査読有り][通常論文]
  • Dimension-driven Deformation and Untangling of Tetrahedral Meshes
    Yuki Takano, Hiroaki Date, Masahiko Onosato
    Proceedings of 2010 Asian Conference on Design and Digital Engineering 483 - 491 2010年08月 [査読有り][通常論文]
  • 金井 理, 増田 宏, 小野里 雅彦, 河村 幸二, 伊達 宏昭
    精密工学会誌 76 10 1121 - 1124 公益社団法人 精密工学会 2010年 [査読無し][通常論文]
  • Hiroaki Date, So Noguchi, Masahiko Onosato, Satoshi Kanai
    IEEE TRANSACTIONS ON MAGNETICS 45 3 1352 - 1355 2009年03月 [査読有り][通常論文]
     
    This paper describes a method for flexibly controlling the properties of a given multimaterial tetrahedral mesh for finite-element analysis. Our method is based on multiresolution techniques. A given mesh is first subdivided and then simplified so that the resulting mesh satisfies the user-specified thresholds for mesh properties (element size, shape, valence, and geometric tolerance). Once the simplification is completed, mesh resolution and density can be modified quickly by using level of detail.
  • 伊達 宏昭
    精密工学会誌 74 12 1264 - 1268 公益社団法人精密工学会 2008年12月05日 [査読無し][通常論文]
  • 溝口 知広, 伊達 宏昭, 金井 理
    精密工学会誌 74 7 752 - 759 公益社団法人精密工学会 2008年07月 [査読有り][通常論文]
     
    To effectively use scanned meshes obtained by 3D laser scanner or X-ray CT scanning systems in engineering applications, such as inspection and CAD model reconstruction, we need to segment meshes and extract desirable regions and their approximating surfaces. Surfaces of engineering objects are commonly represented by a set of analytic surfaces, such as planes, cylinders, spheres, cones. Therefore, the mesh surface of them needs to be approximated by a set of analytic surfaces. In this paper we propose an efficient mesh segmentation algorithm based on region growing and region merging. Our ...
  • Hiroaki Date, Masahiko Onosato
    Computer-Aided Design and Applications 5 1-4 287 - 295 2008年 [査読有り][通常論文]
     
    In this paper, we propose a triangular mesh deformation method based on dimensions. By specifying the type of dimensions, the regions defining the dimensions, and the target dimensions, the mesh is automatically deformed so that it satisfies the target dimensions. Mesh deformation is based on space-based deformation using barycentric coordinates. The deformation handle, which consists of a set of triangular prisms, is automatically created by mesh segmentation, simplification and offsetting of simplified mesh. In deformation, the deformation and fixed spaces are assigned to each prism in the handle, and the mesh is deformed by applying affine transformation to the control vertices and space-based deformation to the deformation space. Results for the mechanical parts show the effectiveness of our method. © 2008 CAD Solutions, LLC.
  • Masahiko Onosato, Fumiki Tanaka, Hiroaki Date, Ryoji Kawagishi
    MANUFACTURING SYSTEMS AND TECHNOLOGIES FOR THE NEW FRONTIER 107 - 110 2008年 [査読有り][通常論文]
     
    Manufacturing in the digital age is deeply dependent on the information and communication technologies (ICT) and the manufacturing activities have been changing from direct operations by human operators to digital data exchanges by computers. It is fairly difficult for engineers and workers to understand the entire image of digital manufacturing activities. A concept of complex manufacturing space (CMS) introduces the duality of the physical world and the information world to manufacturing design, planning, control, and other activities. This paper explains the complex manufacturing space concept and some technical challenges for its implementation.
  • Tomohiro Mizoguchi, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2007, VOL 6, PTS A AND B 547 - 556 2008年 [査読有り][通常論文]
     
    Recently meshes of engineering objects are easily acquired by 3D laser or high energy X-ray CT scanning systems, and these meshes are widely used in product developments. To effectively use scanned meshes in engineering applications, such as inspection, CAD model reconstruction, and convergent-type CAE, we need to segment meshes and extract desirable regions and their approximating surfaces as preprocessing. Engineering objects are commonly represented as a set of analytic surfaces, such as planes, cylinders, spheres, cones, and tori. Therefore, the mesh surface of engineering objects needs to be approximated as a set of analytic surfaces. Moreover, a mesh surface should be approximated with a minimum number of analytic surfaces and their approximating error should be minimized as a result of segmentation. We call the segmentation that satisfies these two conditions the optimal segmentation as proposed in [1]. However, optimal segmentation algorithms need a long calculation time. Today's high energy X-ray CT scanning systems generate large meshes with millions of triangles from objects including hundreds of regions. Thus, computationally expensive algorithms, such as [1], cannot be directly applied to these large and complex meshes from the aspect of efficiency. In this paper we propose an efficient new quasi-optimal mesh segmentation algorithm via region growing and region merging. First, our algorithm robustly and accurately estimates mesh principal curvatures using the local surface fitting by two-pass algorithm. Second, it uses the curvatures to appropriately create seed regions, and then it quickly grows each seed region and extracts grown regions and their approximating analytic surfaces from a whole mesh. Finally, our region merging algorithm efficiently merges extracted regions in order to minimize the number of regions while keeping the user specified tolerances of the surface fitting, and it results in quasi-optimal segmentation. We demonstrate the performance of our algorithm with scanned meshes acquired from real engineering objects by 3D laser and X-ray CT scanning systems.
  • Matsuda, Takuya, Tanaka, Fumiki, Onosato, Masahiko, Date, Hiroaki
    Journal of Advanced Mechanical Design Systems and Manufacturing 2 4 597 - 608 2008年 [査読無し][通常論文]
  • 水野 学, 伊達 宏昭, 金井 理, 岸浪 建史
    精密工学会誌 73 3 383 - 388 公益社団法人精密工学会 2007年03月 [査読有り][通常論文]
     
    In this paper, we present a parametric deformation method for mesh models based on barycentric coordinates for convex polytope. First, we propose a FFD (free-form deformation)based on barycentric coordinates. Arbitrary convex polytope can be used for the deformation handle of the FFD. Next, we propose an automatic handle construction method for the FFD based on definition and classification of deformation types. Deformation handles suitable for user intended deformation types can be automatically constructed by selecting the deformation type and model portions to be deformed. Finally, we pr...
  • 伊達 宏昭, 金井 理
    設計工学 = JOURNAL OF JAPAN SOCIETY FOR DESIGN ENGINEERING 41 2 68 - 76 日本設計工学会 2006年02月05日 [査読無し][通常論文]
  • Tomohiro Mizoguchi, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami
    GEOMETRIC MODELING AND PROCESSING - GMP 2006, PROCEEDINGS 4077 644 - 654 2006年 [査読有り][通常論文]
     
    For effective application of laser or X-ray CT scanned mesh models in design, analysis, and inspection etc, it is preferable that they are segmented into desirable regions as a pre-processing. Engineering parts are commonly covered with analytic surfaces, such as planes, cylinders, spheres, cones, and tori. Therefore, the portions of the part's boundary where each can be represented by a type of analytic surface have to be extracted as regions from the mesh model. In this paper, we propose a new mesh segmentation method for this purpose. We use the mesh curvature estimation with sharp edge recognition, and the non-iterative region growing to extract the regions. The proposed mesh curvature estimation is robust for measurement noise. Moreover, our proposed region growing enables to find more accurate boundaries of underlying surfaces, and to classify extracted analytic surfaces into higher-level classes of surfaces: fillet surface, linear extrusion surface and surface of revolution than those in the existing methods.
  • Hiroaki Date, Satoshi Kanai, Takeshi Kishinami, Ichiro Nishigaki
    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 3685 - + 2006年 [査読有り][通常論文]
     
    With the progress of 3D scanning technology and storing mesh data to 3D model databases, the use of the meshes obtained by scanning and DB querying in CAE have been strongly required in addition to those obtained from traditional meshing of solid models. In our research, we developed a multiresolution mesh processing system for triangular meshes to realize CAE using various kinds of meshes. Our system consists of three functions based on the multiresolution techniques: mesh quality improvement, mesh properties control, and local mesh density control. This paper describes these functions including the extension for tetrahedral meshes, and also shows their effective use in the CAE.
  • Gaku Mizuno, Hiroaki Date, Satoshi Kanai, Takeshi Kishinami, Masahiko Onosato
    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 3697 - + 2006年 [査読有り][通常論文]
     
    Free-Form Deformation (FFD) is a popular method for deforming 3D geometric models. FFD first embeds the model in the parametric space defined by regular lattice (handle). Then by deforming the handle, the embedded model is deformed. However the FFD has following problems for engineering applications such as deformation of mesh models for Computer Aided Engineering (CAE): 1) It is difficult to make handle suitable for intended deformation type such as bend and twist, 2) it requires complicated manipulation to deform and 3) it can not explicitly specify the degree of deformations such as angle of bend. Therefore, in order to solve these problems, we present a parametric deformation method for mesh models. First, we propose an FFD based on barycentric coordinates (BCFFD). Then, we propose an automatic handle construction method for the BCFFD based on definition and classification of deformation types such as bend, twist and so on. Finally, we propose a parametric deformation method. Using our methods, the user can deform the mesh model by selecting deformation type and portions to be deformed, and by manipulating one or two deformation parameters.
  • 溝口 知広, 伊達 宏昭, 金井 理, 岸浪 建史
    情報処理学会論文誌 46 12 3175 - 3187 一般社団法人情報処理学会 2005年12月15日 [査読無し][通常論文]
     
    近年, リバースエンジニアリングや3Dデータベースの検索など, 様々なリソースからのメッシュモデルの入手が可能となり, 工業製品開発における意匠設計段階でこのようなメッシュモデルを用いる機会が多くなった.しかし, 工業製品開発の詳細設計のためには, 最終的に設計対象のソリッドモデルを生成することが必要であり, 製品開発期間短縮のため, メッシュモデルからソリッドモデルを自動で生成する技術が望まれている.そこで本研究では, メッシュモデルからのソリッドモデルの自動生成を支援するための, 広域的法線評価と改良Watershed法に基づくメッシュモデルの特徴稜線抽出手法を提案する.ここで述べる特徴稜線とは, 機能的に1つの面分として認識することが望ましい三角形集合からなる領域の境界線を意味する.本手法では, メッシュに含まれる測定ノイズやメッシュ分割方法の影響を受けにくい特徴稜線抽出が可能である.また, 特徴稜線で囲まれた領域を1つの面分として認識でき, 従来の特徴稜線抽出手法では抽出しにくかったフィレット面の境界線を特徴稜線として抽出することもできる.さらに, 異なる抽出パラメータ設定より得られる特徴稜線群のうちのユーザが要求する稜線のみを選択的に合成し, これらを3次元CADシステムで読み込む機能も実現した.
  • H Date, S Kanai, T Kishinami, Nishigaki, I, T Dohi
    JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING 5 4 266 - 276 2005年12月 [査読有り][通常論文]
     
    In this paper, we propose a new triangular finite element mesh generation scheme from various kinds of triangular meshes using the multiresolution technique. The proposed scheme consists of two methods: a mesh quality improvement method and a mesh property control method. The basic strategy of these methods is a combination of the mesh subdivision and simplification. Given mesh is first subdivided to obtain enough degree of freedom for a property change, then by simplification using edge collapse for the resulting mesh to change the mesh properties, we can easily improve and control the mesh properties required for finite element analysis.
  • 遠藤 維, 伊達 宏昭, 金井 理, 岸浪 建史
    精密工学会誌論文集 71 9 1168 - 1172 公益社団法人精密工学会 2005年09月05日 [査読無し][通常論文]
     
    本研究では, Marching Cubes, Shrink-wrappingによる概略メッシュ生成, QEM・曲率評価に基づく簡略化を用いたフィレット領域の特徴保存, Quasi-Interpolationによる初期制御メッシュ頂点位置の高速計算を用いて, 高密度測定点群にフィットするLoop細分割曲面を生成する新手法を提案する.
  • 伊達 宏昭, 金井 理, 岸浪 建史, 岩越 睦郎, 小林 政義
    情報処理学会研究報告. グラフィクスとCAD研究会報告 2005 44 55 - 60 一般社団法人情報処理学会 2005年05月 [査読有り][通常論文]
     
    本論文では, 質感や機能面から重要となるしぼやロゴ等の微小な凹凸からなるテクスチャが貼り付けられた形状の効率的な設計・試作を支援するための, 三角形メッシュモデルを用いたテクスチャ付き形状設計支援システムについて述べる.本システムは, 3Dスキャンやテクスチャ抽出によるテクスチャメッシュデータの取得, 取得したテクスチャのデジタルデータ処理, ならびに, 領域や場所指定に基づくテクスチャメッシュ合成によるテクスチャ付き形状モデリング機能からなり, 効率的で柔軟なテクスチャ付き形状設計を実現している.
  • 清水 貴文, 伊達 宏昭, 金井 理, 岸浪 建史
    情報処理学会研究報告. グラフィクスとCAD研究会報告 2005 44 7 - 12 一般社団法人情報処理学会 2005年05月 [査読有り][通常論文]
     
    本研究では, 3次元スキャナから得られる測定ノイズを含むメッシュモデルのノイズ除去を目的とした, 特徴稜線認識型メッシュスムージング手法を提案する.はじめに法線投票テンソルの固有値解析により特徴稜線を構成するメッシュエッジ群を抽出する.次に抽出したメッシュエッジ群をbilateral filteringにより特徴稜線方向にスムージングし, 最後にメッシュ全体をbilateral filteringによりスムージングすることで, 特徴稜線が稜線方向に滑らかで, かつ特徴稜線を境界として持つフェイスの測定ノイズが除去されたメッシュが得られる.
  • 伊達 宏昭, 金井 理, 岸浪 建史, 西垣 一朗, 土肥 高幸
    精密工学会誌論文集 71 2 223 - 227 公益社団法人精密工学会 2005年02月05日 [査読無し][通常論文]
     
    本論文では, 三角形メッシュの品質に依存する幾何・数値演算処理の安定性や精度の向上を目的とした, 頑強なメッシュ品質改善手法を提案する. 提案法は, メッシュ接続性操作自由度向上のための細分化と, 品質改善度評価に基づくメッシュ簡略化により, 入力の低品質メッシュの面分形状歪を減少し, 面分粗密を一様化するものであり, 数値的評価とFEMへ応用によりその有効性を示す.
  • H Date, S Kanai, T Kishinami, Nishigaki, I
    NINTH INTERNATIONAL CONFERENCE ON COMPUTER AIDED DESIGN AND COMPUTER GRAPHICS, PROCEEDINGS 339 - 344 2005年 [査読有り][通常論文]
     
    In this paper, we propose a new triangular finite element mesh generation method based on simplification of high-density mesh and adaptive Level-of-Detail (LOD) methods for efficient CAE. Mesh simplification evaluating mesh properties is applied to control the mesh properties required for FE mesh, such as the number of triangular elements, element shape quality and size while keeping the specified approximation tolerance. Adaptive LOD methods based on vertex hierarchy according to curvature and region of interest, and global LOD method preserving density distributions are also proposed in order to construct a more appropriate FE mesh. These methods enable efficient generation of FE meshes with appropriate properties for analysis from a high-density mesh. Finally, the effectiveness of our approach is shown through evaluations of the FE meshes for practical use.
  • H Date, S Kanai, T Kisinami
    APPLICATIONS OF DIGITAL TECHNIQUES IN INDUSTRIAL DESIGN ENGINEERING-CAID&CD' 2005 146 - 151 2005年 [査読有り][通常論文]
     
    In this paper, we propose a new texture extraction method from an existing mesh surface with texture consisting of small bumps for efficient textured shape design. Our texture extraction approach consists of two stages: In the first stage, the geometries of base surface and texture (displacements) are separated from the textured surface using a combination of smoothing operations: the normal smoothing for estimating base surface normals, and the smoothing of vertex positions for separating geometries. The latter one is realized by moving vertices along the estimated normal direction, and it enables extraction of displacements from meshes with different proper-ties. In the second stage, by applying mesh flattening using a parameterization technique to the estimated base surface, the initial flat mesh is generated. The final texture is then obtained by offsetting the vertices of the resulting flat mesh according to the extracted displacements. As a result, texture mesh, which represents bumpiness of the texture from base surface by the height values of the vertices, can be obtained.
  • T Mizoguchi, H Date, S Kanai, T Kishinami
    PROCEEDINGS OF THE 8TH JOINT CONFERENCE ON INFORMATION SCIENCES, VOLS 1-3 1610 - 1613 2005年 [査読有り][通常論文]
     
    Recently, a technique which automatically generates solid models from mesh models is required in the field of reverse engineering for more efficient product development. In this paper, we propose a new feature edge extraction method from triangular mesh models based on wide range normal evaluation and segmentation using the modified Watershed method. Our feature edge extraction method is robust for mesh models with scanning noise and different mesh connectivity, and it enables recognition of the region bounded by extracted feature edges as a face. It also enables extraction of boundary edges of the fillet surface as feature edges, which was difficult using previous methods. These characteristics are effective for automatic solid model generation. Moreover we implemented functions for selecting and collecting the required feature edges extracted at different parameter settings, and transferring the resulting feature edges into a 3D CAD system.
  • T Shimizu, H Date, S Kanai, T Kishinami
    NINTH INTERNATIONAL CONFERENCE ON COMPUTER AIDED DESIGN AND COMPUTER GRAPHICS, PROCEEDINGS 1 1 281 - 286 2005年 [査読有り][通常論文]
     
    In this paper, we propose a new mesh smoothing method for mesh models with measurement noise obtained from a 3D scanner. Our proposed method enables not only the removal of noise from the faces but the preservation and smoothing of features recognized as sharp edges and corners. First, by using the eigen analysis of normal voting tensor, mesh edges composed of sharp edges can be extracted. Second, bilateral filtering is applied to extracted mesh edges to smooth the mesh edges along the direction of the sharp edge. Finally, by applying modified bilateral filtering to the overall mesh, a mesh model with sharp edges smoothed along their directions and measurement noise removed from faces was obtained.
  • 伊達 宏昭, 金井 理, 岸浪 建史
    精密工学会誌 69 4 581 - 585 公益社団法人精密工学会 2003年04月05日 [査読無し][通常論文]
     
    The surface of many industrial products may have geometries composed both of base shape and surface detail. From the design point of view, it is efficient to design the base shape and surface detail independently, and then to integrate the surface detail with the base shape surface for obtaining the surface-detail-integrated shape. In this paper, to realize a flexible and efficient mesh modeling for the surface-detail-integrated shape, we propose a method that integrates the surface detail with the base shape using parameterization. In our method, the user can simply design the surface-deta...
  • 金井 理, 伊達 宏昭, 岸浪 建史
    精密工学会誌 69 4 490 - 493 公益社団法人精密工学会 2003年04月05日 [査読無し][通常論文]
  • H Date, S Kanai, T Kishinami
    IGARSS 2001: SCANNING THE PRESENT AND RESOLVING THE FUTURE, VOLS 1-7, PROCEEDINGS 1847 - 1849 2001年 [査読有り][通常論文]
     
    In this paper, we propose an adaptive level-of-detail control method using wavelet-based multiresolution representation for triangulated mesh and digital image for the purpose of efficient data processing for transmitting and displaying a textured digital terrain model in a network-based server-client system.
  • 伊達 宏昭, 金井 理, 岸浪 建史
    精密工学会誌 65 9 1275 - 1279 公益社団法人精密工学会 1999年09月05日 [査読無し][通常論文]
     
    Recently, muchi, interest is being taken in method to protect the copyright of digital data and preventing illegal duplication of it. However, in the area of CAD/CAM and CG, there are no effective ways to protect the copyright of the 3D geometric models. As a first step to solve the problem, a new digital watermarking method for 3D polygonal models is introduced in this paper. Watermarking is one of the copyright protection methods where an invisible watermark is secretly embedded into the original data. The proposed watermarking method is based on the wavelet transform (WT) for the polygon...

講演・口頭発表等

その他活動・業績

特許

受賞

  • 2019年11月 ICCCBEI2019 committee ICCBEI 2019 Best Paper Award Honorable Mentioned
     Automatic Indoor Environment Modeling from Laser-scanned Point Clouds using Graph-based Regular Arrangement Recognition 
    受賞者: Hayato Takahashi;Hiroaki Date;Satoshi Kanai
  • 2019年06月 16th Annual International CAD Conference Best Paper Award
     Free-form Feature Classification for Finite Element Meshing based on Shape Descriptors and Machine Learning 
    受賞者: Ippei Takaishi;Satoshi Kanai;Hiroaki Date;Hideyoshi Takashima
  • 2018年07月 CAD Conference Committee Best Paper Award
     Cylinder-based efficient and robust registration and model fitting of laser-scanned point clouds for as-built modeling piping system 
    受賞者: Ryota Moritani;Satoshi Kanai;Hiroaki Date;Masahiro Watanabe;Takahiro Nakano;Yuta Yaamuchi
  • 2017年09月 精密工学会 北海道支部 精密工学会 北海道支部 技術賞
     X線CTと光学式計測データを併用した高品質ハイブリッド計測モデル生成技術の開発 
    受賞者: 杉本光祐;臼井一雅;髙嶋英厳;伊達宏昭;金井理
  • 2015年04月 the ICCBEI Organizing Committee ICCBEI 2015 Best Paper Award
     Optimal setup of a terrestrial laser scanner for capturing piping objects in plants 
    受賞者: Satoshi Kanai;Shinya Yamanishi;Hiroaki Date
  • 2014年07月 The Japan Society for Precision Engineering The 15th International Conference on Precision Engineering Best Paper Award
     MR-based 3D prototyping for information appliances using random dot markers and fingernaol color detection 
    受賞者: Satoshi Kanai;Hiroaki Date;Jiabin Guan
  • 2014年05月 International Ergonomic Assosiation (IEA) Technical Committee (TC) on Human Simulation and Virtual Environment DHM2014 Basic Research Award
     Efficient large-scale as-build environment modeling based on 3D laser-scanning for human walking simulation 
    受賞者: Tsubasa Maruyama;Satoshi Kanai;Hiroaki Date
  • 2014年02月 Gaheon Sindoh Foundation, Society of CAD/CAM Engineers The Gaheon Award 2013
     An Efficient Simulation of Skin Contact Deformation for Virtual Ergonomic Assessments of Handheld Products 
    受賞者: Yulai Xie;Satoshi Kanai;Hiroaki Date
  • 2013年05月 Mobile Mapping Technology 2013 Best Presentation Award
     Segmentation of MMS Point Clouds of Urban Area based on Principal Component Analysis 
    受賞者: Hiroaki Date
  • 2013年03月 (社)精密工学会 2012年度 精密工学会論文賞
     大規模環境レーザ計測点群からの配管系統の自動認識 
    受賞者: 川島千明;金井理;伊達宏昭
  • 2012年12月 Asian Conference on Design and Digital Engineering 2012 The Best Paper Award
     Robust and Exhaustive Symmetry Detection from Scanned Meshes 
    受賞者: Tomihiro Mizoguchi;Satoshi Kanai;Hiroaki Date;Hiroyuki Tanaka
  • 2012年08月 精密工学会 北海道支部 精密工学会 北海道支部 技術賞
     マイクロフォーカスX線CTシステムを用いた立体形状評価 
    受賞者: 田中大之;相山英明;万城目聡;金井理;伊達宏昭;溝口知広

共同研究・競争的資金等の研究課題

  • 点品質最適化に基づく環境3次元計測点群データ処理手法の開発
    文部科学省:科学研究費補助金(基盤研究(C))
    研究期間 : 2018年04月 -2021年03月 
    代表者 : 伊達宏昭
  • 文部科学省:科学研究費補助金(基盤研究(C))
    研究期間 : 2014年04月 -2017年03月 
    代表者 : 伊達宏昭
  • 文部科学省:科学研究費補助金(若手研究(B))
    研究期間 : 2012年 -2013年 
    代表者 : 伊達 宏昭
  • 文部科学省:科学研究費補助金(挑戦的萌芽研究)
    研究期間 : 2011年 -2012年 
    代表者 : 金井 理, 伊達 宏昭
     
    (1) 多重解像度メッシュモデルによるMEMSデバイスの理想形状と製造誤差形状の重畳表現の開発: MEMSデバイス理想形状を,アセンブリ型メッシュモデルとして表現する. さらに,エッチング時の壁面の湾曲や稜線部の丸まりなどの製造誤差を含んだデバイス形状を,局所的に微細な寸法をもつ3角形の集合体として表現し, これらを粗いスケールの3角形へ多対一対応させた「多重解像度表現」としてデータ管理する方法を開発した. (2) X線CTによるMEMSデバイスの実誤差形状計測とメッシュモデルによる表現: マイクロフォーカスX線CT装置により,加速度センサMEMSを3次元計測し,実際の製造誤差を含む形状のボリュームデータ,ならびに境界面計測メッシュモデルを生成した.またこの計測メッシュモデル上で,溝部壁面の真直度やエッチングアスペクト比を,市販ソフトウエアにより計測した.(3)Fabrication Featureの自動抽出と製造可能な工程順序の全探索機能の開発: デバイスの各堆積層の境界面分集合であるFabrication Featureをメッシュモデル内から自動認識し,Featureの幾何形状に基づいて3種類に分類した.さらに,Feature間の投影重複関係を計算し,この関係に合致するFeature群の堆積順序の組合せを再帰的に探索させ,デバイスを製造可能な全工程順序を探索する機能を開発した.また,製造不可能なデバイスを誤って設計しても,Fabrication Featureの形状さえ製造可能であれば,「製造不可」という判定ではなく,初期設計案に形状が類似し,製造可能なデバイス形状の工程順序を導出する機能を開発した.これらの機能を3次元ソリッドモデリングライブラリであるParasolid上に実装した.
  • 文部科学省:科学研究費補助金(基盤研究(B))
    研究期間 : 2009年 -2011年 
    代表者 : 金井 理, 城間 祥之, 伊達 宏昭, 持丸 正明
     
    本研究は,ヒトの手指の形状と運動を精密に再現した「デジタルハンド」により,デジカメ等のハンドヘルド型製品の3次元CADモデルを仮想的に把持・操作させ,「持ちやすさ」や「操作のしやすさ」を迅速に評価できる「仮想エルゴノミック評価システム」の開発が目的である.このため,(1)MRI計測に基づく高精度なデジタルハンド構築,(2)最適化に基づく把持姿勢自動生成,(3)手指筋骨格モデルを用いた「持ちやすさ」の定量推定,(4)逆運動学に基づいた「操作のしやすさ」の定量推定,(5)手指・製品間の高速な接触変形シミュレーションといった機能を開発した.またこれらを,企業での製品形状評価に試用した.
  • 文部科学省:科学研究費補助金(若手研究(B))
    研究期間 : 2009年 -2010年 
    代表者 : 伊達 宏昭
     
    本研究では,ものづくりにおける円滑な3次元形状モデル利用を目的として,スケッチ入力に基づく解析用四面体メッシュの形状モデリング手法,ならびに,寸法指定に基づく解析用四面体メッシュのパラメトリック変形手法を開発した.3次元CADシステムと同様の操作による,解析用四面体メッシュモデルの生成,ならびに,解析用四面体メッシュモデルの形状修正が実現され,CAD/CAEにおける設計用ソリッドモデルと解析用メッシュモデル連携の基礎技術が構築された.
  • 文部科学省:科学研究費補助金(基盤研究(B))
    研究期間 : 2007年 -2008年 
    代表者 : 金井 理, 伊達 宏昭
     
    本研究は, 工業用X線CT計測データから全自動・高品質な3次元形状モデルを構築する技術を実現すべく, 実工業製品の大規模なX線CT計測メッシュから, エンジニアリングで要求される高品質な3次元形状モデルのフィーチャ認識を, 高精度に, 安定かつ自動で, しかも高速に行なえるアルゴリズムと, 認識の基本となる高精度なメッシュ曲率算出アルゴリズムを開発し, そのアルゴリズムが十分な実用性をもつことを検証した.
  • 文部科学省:科学研究費補助金(基盤研究(B))
    研究期間 : 2006年 -2007年 
    代表者 : 小野里 雅彦, 田中 文基, 伊達 宏昭
     
    実世界の存在物と仮想世界の存在物とが相互に連関し,ある種の双対性を実現した複素生産空間の概念の定式化と,それに基づくシステム開発を実施した.複素生産空間の概念的な図式として,実世界面と仮想世界基準面からなる抽象的な空間を考え,世界に対する記述が時間の進行とともに意味が推移していくことを示した.システムの開発に関しては,実-仮想の表現実体が混在する作業環境において,それらを同一の指示デバイスを用いて指示することができるユニバーサルポインティングシステムの開発を行った.また,発話による直示表現による作業環境中の対象物指示と音声認識とテキスト処理を用いた発話記録システムを開発することで,作業環境において,指示対象と発話内容を連携させた形での技術情報の蓄積および取り出し可能とした.また,3次元の対象物に対する情報の付与と参照を直感的に行うためのデバイスとして拡張現実感を使用した3次元ユーザインタフェースを開発し,サイバーアノテーション環境の構築とその有効性を検証した.また,サイバーフィールドのモデリングに関しては仮想環境中で生産の業務を行う仮想作業者の開発,実環境に対する3次元計測データからCAD等で形状定義された対象物を認識する手法の開発,時間変化をする3次元世界を4次元の形状としてモデリングする4次元メッシュモデリングシステムなどを開発し,複素生産空間を実現するための基盤を整備した.以上の研究成果により,複素生産空間の概念提示からそれを実現する際に必要となる主要な技術の開発を行うことができた.今後は実生産の支援を行うための手法とシステムの拡張整備が課題となる.
  • 文部科学省:科学研究費補助金(基盤研究(B))
    研究期間 : 2005年 -2006年 
    代表者 : 金井 理, 伊達 宏昭
     
    本研究は,意匠デザイン初期段階で容易に入手可能なスケッチ図や物理モデル測定点群などを入力とし,類似構造をもつ過去の解析用メッシュモデルを探し出し,これを入力にフィットするよう変形・整形させることで,新規デザイン形状に対する解析用メッシュモデルを容易かつ迅速に得ることが可能なソフトウエアの開発を目的とした.この実現のため,ソリッドモデリングと同等の形状操作能力を持ち,かつ解析用メッシュ生成に耐えうる高度なメッシュモデル操作技術を開発した.具体的な研究実績は下記の通りである.(1)スケッチに基づく類似構造メッシュ検索機能の開発問合せスケッチと類似ビューを持つ3次元メッシュモデルを,剛体変換に依存せず探索できるメッシュ検索機能を,Generic Fourier DescriptorとLocal Binary Patternを利用し開発した.(2)複数メッシュ合成機能の開発2つの複雑な4面体メッシュの重複部分を矛盾なく1つのメッシュにアセンブリする処理を,4面体メッシュに対する表面オフセットとEdge Collapse機能の組合せにより実現した.(3)メッシュ特徴領域消去機能の開発メッシュ上の微小な穴・溝・ボスなどの特徴領域を認識し,これをモデル上から消去・復元可能な特徴領域認識とLOD機能をEdge Collapseを応用し開発した.(4)大規模解析モデルの特徴認識・変形機能の開発工業用X線CTスキャン等から得られた大規模モデル上から,解析曲面で近似できる部分表面領域を自動認識するとともに,重心座標を利用した寸法駆動型メッシュモデルの変形・整形機能を開発し,その有効性を確認した.以上の成果を,研究論文11件,特許出願2件として公表した.

教育活動情報

主要な担当授業

  • ディジタル幾何処理工学特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学研究科
    キーワード : グラフ理論基礎, 計算幾何学, 3次元計測データ処理 Fundamentals of Graph Theory, Computational Geometry, 3D Scan Data Processing
  • ディジタル幾何処理工学特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学院
    キーワード : グラフ理論基礎, 計算幾何学, 3次元計測データ処理 Fundamentals of Graph Theory, Computational Geometry, 3D Scan Data Processing
  • システム創成学特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学研究科
    キーワード : H∞制御,人間センシング,ディジタル幾何処理,サイバーフィールド
  • システム創成学特論
    開講年度 : 2019年
    課程区分 : 修士課程
    開講学部 : 情報科学院
    キーワード : H∞制御,人間センシング,ディジタル幾何処理,サイバーフィールド
  • ディジタル幾何処理工学特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学研究科
    キーワード : グラフ理論基礎, 計算幾何学, 3次元計測データ処理 Fundamentals of Graph Theory, Computational Geometry, 3D Scan Data Processing
  • ディジタル幾何処理工学特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学院
    キーワード : グラフ理論基礎, 計算幾何学, 3次元計測データ処理 Fundamentals of Graph Theory, Computational Geometry, 3D Scan Data Processing
  • システム創成学特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学研究科
    キーワード : H∞制御,人間センシング,ディジタル幾何処理,サイバーフィールド
  • システム創成学特論
    開講年度 : 2019年
    課程区分 : 博士後期課程
    開講学部 : 情報科学院
    キーワード : H∞制御,人間センシング,ディジタル幾何処理,サイバーフィールド
  • ディジタル形状設計
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : 3次元形状モデリング,CAD/CAM/CAE,座標変換,曲線・曲面,ソリッドモデル,メッシュモデル,3次元形状計測
  • 応用数学Ⅰ
    開講年度 : 2019年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : ベクトル空間,線形写像,固有値,勾配,発散,回転,ストークスの定理

大学運営

委員歴

  • 2020年02月 - 現在   精密工学会北海道支部   庶務幹事
  • 2016年 - 現在   日本機械学会   日本機械学会設計工学システム部門企画活動活性化委員
  • 2013年09月 - 現在   精密工学会 大規模環境の3次元計測と認識・モデル化技術専門委員会   副委員長
  • 2017年02月 - 2019年01月   精密工学会北海道支部   幹事
  • 2017年 - 2018年   経済産業省高度な自動走行システムの社会実装に向けた研究開発実証事業 推進委員
  • 2015年02月 - 2018年01月   精密工学会   代議員
  • 2016年02月 - 2017年01月   精密工学会北海道支部   庶務幹事
  • 2016年 - 2016年   札幌市公共交通情報システム再構築業務総合評価審査委員会委員
  • 2014年02月 - 2015年01月   精密工学会北海道支部   幹事
  • 2013年02月 - 2014年01月   精密工学会北海道支部   庶務幹事
  • 2012年02月 - 2013年01月   精密工学会 大規模環境の3次元計測と認識・モデル化技術専門委員会   幹事
  • 2011年02月 - 2012年01月   精密工学会北海道支部   幹事
  • 2010年02月 - 2012年01月   精密工学会 サイバーフィールド構築技術研究分科会   幹事
  • 2009年02月 - 2011年01月   精密工学会北海道支部   会計幹事


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