{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00018053","sets":["934:1085:1107:1108"]},"path":["1108"],"owner":"1","recid":"18053","title":["3次元視覚によるプログラミングレスマニピュレーションシステムの開発"],"pubdate":{"attribute_name":"公開日","attribute_value":"2003-12-15"},"_buckets":{"deposit":"47aef72b-6d9c-4c82-a610-4d057e238552"},"_deposit":{"id":"18053","pid":{"type":"depid","value":"18053","revision_id":0},"owners":[1],"status":"published","created_by":1},"item_title":"3次元視覚によるプログラミングレスマニピュレーションシステムの開発","author_link":["0","0"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"3次元視覚によるプログラミングレスマニピュレーションシステムの開発"},{"subitem_title":"R&D on Programming - less Manipulation Systems Using Three - dimensional Vision","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"総合論文","subitem_subject_scheme":"Other"}]},"item_type_id":"3","publish_date":"2003-12-15","item_3_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"独立行政法人産業技術総合研究所"},{"subitem_text_value":"独立行政法人産業技術総合研究所"},{"subitem_text_value":"独立行政法人産業技術総合研究所"}]},"item_3_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"National Institute of Advanced Industrial Science and Technology (AIST)","subitem_text_language":"en"},{"subitem_text_value":"National Institute of Advanced Industrial Science and Technology (AIST)","subitem_text_language":"en"},{"subitem_text_value":"National Institute of Advanced Industrial Science and Technology (AIST)","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/18053/files/IPSJ-TCVIM4417003.pdf"},"date":[{"dateType":"Available","dateValue":"2005-12-15"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-TCVIM4417003.pdf","filesize":[{"value":"830.7 kB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"20"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"4a30f4a3-5997-4949-88ea-cf2a6bc3be82","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2003 by the Information Processing Society of Japan"}]},"item_3_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"富田, 文明"},{"creatorName":"松下, 俊夫"},{"creatorName":"河井, 良浩"}],"nameIdentifiers":[{}]}]},"item_3_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Fumiaki, Tomita","creatorNameLang":"en"},{"creatorName":"Toshio, Matsushita","creatorNameLang":"en"},{"creatorName":"Yoshihiro, Kawai","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_3_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11560603","subitem_source_identifier_type":"NCID"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_6501","resourcetype":"journal article"}]},"item_3_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1882-7810","subitem_source_identifier_type":"ISSN"}]},"item_3_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"産総研では，多分野・多目的に利用できる高機能3次元視覚システムVVV（Versatile VolumetricVision）を開発している．3次元視覚として，距離計測，形状計測，物体認識，運動追跡が主要な処理であるが，VVV は，多様な状況で任意の形状の物体を対象として，これらの処理を一貫的に実時間で高精度に実行することができるソフトウェアシステムである．VVV の応用システムの1 つとして，各種物体の各種操作の基本動作を体系化，モジュール化することにより，専門家によるプログラミングを必要としないプログラミングレスハンドアイシステムの実現を目指している．本稿では，3次元視覚を用いた物体操作の実験システムとして，人が操作する物体の移動方法を見て覚える物真似システムのほか，自動システムとして，空き缶等のビンピッキングシステム，円柱部品のペグインホールシステム，ブロックの組み立てシステム，作業移動型システムとしてヒューマノイドによるパネル運搬作業等を紹介する．","subitem_description_type":"Other"}]},"item_3_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"We are developing an advanced 3-D vision system VVV (Versatile Volumetric Vision) which can be used for many purposes in many fields. Range sensing, shape description, object recognition and motion tracking are the principal functions of 3-D vision. The VVV is a software system which can implement these functions consistently and accurately in real time. Using VVV, we are also developing programming-less hand-eye systems which need not any professional robot programmer by systematically have a set of various elementary manipulation modules for various kinds of objects. In this paper, we introduce such experimental automatic hand-eye systems as a bin-picking system which selects, for example, empty cans among other objects, a peg-in-hole system which inserts cylindrical parts into moving holes, an assembly system which combines scattered blocks into a structure, and a humanoid which works to carry panels as a system of integrated locomotion and manipulation, as well as interactive systems which teach robots how to move objects by showing.","subitem_description_type":"Other"}]},"item_3_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"12","bibliographic_titles":[{"bibliographic_title":"情報処理学会論文誌コンピュータビジョンとイメージメディア（CVIM）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2003-12-15","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"SIG17(CVIM8)","bibliographicVolumeNumber":"44"}]},"relation_version_is_last":true,"weko_creator_id":"1"},"id":18053,"updated":"2025-01-22T22:59:46.297725+00:00","links":{},"created":"2025-01-18T22:50:53.358091+00:00"}