{"id":53204,"updated":"2025-01-22T06:25:26.686811+00:00","links":{},"created":"2025-01-18T23:17:21.455096+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00053204","sets":["1164:4619:4695:4700"]},"path":["4700"],"owner":"1","recid":"53204","title":["固有空間法による視覚サーボにおけるInteraction Matrixの動的な構成"],"pubdate":{"attribute_name":"公開日","attribute_value":"1996-01-18"},"_buckets":{"deposit":"849be782-2d99-4e88-a0a8-5097c385b238"},"_deposit":{"id":"53204","pid":{"type":"depid","value":"53204","revision_id":0},"owners":[1],"status":"published","created_by":1},"item_title":"固有空間法による視覚サーボにおけるInteraction Matrixの動的な構成","author_link":["0","0"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"固有空間法による視覚サーボにおけるInteraction Matrixの動的な構成"},{"subitem_title":"Dynamic Calculation of Interaction Matrix in Visual Servoing Using Eigenspace Method","subitem_title_language":"en"}]},"item_type_id":"4","publish_date":"1996-01-18","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学工学部"},{"subitem_text_value":"東京大学工学部"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Faculty of Engineering, University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"Faculty of Engineering, University of Tokyo, Bunkyo - ku, Tokyo, Japan","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/53204/files/IPSJ-CVIM95098005.pdf"},"date":[{"dateType":"Available","dateValue":"1998-01-18"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-CVIM95098005.pdf","filesize":[{"value":"645.6 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":"a97830d7-3d03-44aa-9502-6083243cc15e","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 1996 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"野口, 崇"},{"creatorName":"出口, 光一郎"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Takash, NoguchiI","creatorNameLang":"en"},{"creatorName":"Koichiro, Deguchi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11131797","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"固有空間法による視覚サーボにおいてカメラの動作空間と固有空間の積空間を考えると，カメラの位置・姿勢と画像の相互の拘束は曲面として表される．よって，あるカメラ位量におけるカメラの位置・姿勢の変化と画像の変化との関係は，この曲面のある点における傾きで表される．本論文では，この傾き(nteraction　Matrixとしてその係数が与えられる）を，経路上の各点でカメラの軌跡およびカメラの動きに伴ない観測された画像の変化をもとに動的に計算する方法を示す．画像で与えたゴールまでカメラを動かす実験を，傾きが一定としてカメラの運動を制御した場合と，傾きを動的に計算した場合で行ない，両者を比較する．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"We have proposed the visual servoing using eigenspace method, where an image can be considered as a single point in the eigenspace. A camera pose mutually constrains the image by a surface in their product space. This paper presents how to estimate the normal vector of the surface, which is related to the Interaction Matrix, online from the sequence of images and camera trajectories. The experiment is done on a robot arm mounting a camera. The results with proposed dynamic method is shown to be much improved compared with those by the previous method.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"34","bibliographic_titles":[{"bibliographic_title":"情報処理学会研究報告コンピュータビジョンとイメージメディア（CVIM）"}],"bibliographicPageStart":"27","bibliographicIssueDates":{"bibliographicIssueDate":"1996-01-18","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"5(1995-CVIM-098)","bibliographicVolumeNumber":"1996"}]},"relation_version_is_last":true,"weko_creator_id":"1"}}