ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-8249 Fax 0568-51-9409 ത࢜ ʢ த෦େֶ ֶ෦ใֶՊ ߨࢣ ࢁԼོٛ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9670 Fax 0568-51-1540 ത࢜ ʢֶʣ ϓ ത࢜ ʢֶʣ த෦େֶ ֶ෦ϩϘο τཧֶՊ ٶࠊ͋ΏΈ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 miya@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROB Chubu University Department of Robotics Science a College of Engineering Ayumi Miyako Machine Perception and Robotic 1200 Matsumoto-cho, Kasugai, A 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp த෦େֶ ֶ෦ϩϘο τཧֶՊ ॿख ࢁ༔࢚ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-8249 Fax 0568-51-9409 yuu@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Research Assistant Dr.Eng. Yuji Yamauchi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-8249 Fax +81-568-51-9409 yuu@vision.cs.chubu.ac.jp த෦େֶ ֶ෦ใֶՊ ߨࢣ ࢁԼོٛ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9670 Fax 0568-51-1540 yamashita@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Computer Science College of Engineering Lecturer Dr.Eng. Takayoshi Yamashita Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9670 Fax +81-568-51-1540 yamashita@cs.chubu.ac.jp த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor Dr.Eng. Hironobu Fujiyoshi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp
Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ֶྺɿ ذೆۀߴߍిࢠՊଔۀ த෦େֶిࢠֶՊଔۀ த෦େֶେֶӃम࢜՝ఔमྃ த෦େֶେֶӃത࢜ޙظ՝ఔຬظୀֶʢത࢜ʣ ݚڀ׆ಈɿ ถΧʔωΪʔϝϩϯେֶϩϘοτֶݚڀॴϙευΫݚڀһʢʣ த෦େֶֶ෦ߨࢣ த෦େֶֶ෦।ڭत ถΧʔωΪʔϝϩϯେֶϩϘοτֶݚڀॴ٬һݚڀһʢʣ த෦େֶֶ෦ڭतʙ ػց֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓೳݚڀηϯλʔ٬һݚڀһ !IG
த෦େֶֶ෦ڭतʙ ػց֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾհɿ౻٢߂ த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 5, /&$
த෦େֶֶ෦ڭतʙ ػց֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾհɿ౻٢߂ த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ݚڀͷָ͠͞ʹ৮ΕΔ 5FDIOPEFMJD :.0 -.%
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த෦େֶֶ෦ڭतʙ ػց֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾհɿ౻٢߂ த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ࢦಋڭतɿക࡚ଠઌੜ ࢦর߹ɾମݕग़ͷը૾ೝࣝͷݚڀ "//ʹΑΔφϯόʔϓϨʔτͷҐஔݕग़ ౻٢ ക࡚ ࠓଜ ۚग़ ৴ֶ 7PM+%** /P εϖΫτϧͷભҠ֬Λར༻ͨ͠ݸਓࢦর߹๏ ౻٢ ക࡚ ࠤར ླଜ ৴ֶ 7PM+%** /P
த෦େֶֶ෦ڭतʙ ػց֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾհɿ౻٢߂ த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4VQFSWJTPSɿۚग़༤ઌੜ 7JEFP4VSWFJMMBODFBOE.POJUPSJOH<1SPDPG*&&&`> lTUBSzTLFMUPOJ[BUJPO<8"$7`> )VNBOPJEWJTJPOQSPKFDU $.6)POEB
Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR
த෦େֶֶ෦ڭतʙ ػց֮ϩϘςΟΫεݚڀάϧʔϓ ݱࡏʹࢸΔ ֶ֎׆ಈɿ ຊσΟʔϓϥʔχϯάڠձཧࣄ ࢈૯ݚਓೳݚڀηϯλʔ٬һݚڀһ !IG ࣗݾհɿ౻٢߂ த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4VQFSWJTPSɿۚग़༤ઌੜ 1FPQMF*NBHF"OBMZTJT 1FEFTUSJBO%FUFDUJPO
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) + 2 y2 G( ) L(·) ࢄؔ 14 n=1 v n n ( x, y, ) LoG( x, y, ) = 2 x2 g( ) + 2 y2 g( ) 14 n=1 v n n ( x, y, ) ࿈ଓؔ ܭࢉՄೳͳύϥϝʔλࢄత x = {1.6, 1.7, · · · , 3.2} y = {1.6, 1.7, · · · , 3.2} = {0 , 5 , · · · , 175 } ݻ༗ؔ ݻ༗ؔ ݻ༗ؔ ҙͷ࿈ଓύϥϝʔλͰܭࢉՄೳ x [1.6, 3.2] y [1.6, 3.2] [0 , 175 ) ݻ༗ؔ ݻ༗ؔ ݻ༗ؔ n ( x, y, ) = DI i=0 DJ j=0 DK k=0 i,j,k i x j y cos(k ) + DI i=0 DJ j=0 DK k=1 i,j,k i x j y sin(k ) arg min , x y ( n ( x, y, ) n ( x, y, ))2 ࿈ଓؔϑΟοςΟϯά ˠ࿈ଓؔͷϑΟοςϯάʹΑΓҙͷ-P(ϑΟϧλ͕ੜՄೳ ʮݰਓ࣮ߦᶄʯ
த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 5FBDIFS /FUXPSL 4UVEFOU /FUXPSL -BSHF QSFUSBJOFE 4NBMM ,OPXMFEHFUSBOTGFS ࣝৠཹ ࣝ
,% <()JOUPO > த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 5FBDIFS 4UVEFOU $SPTT&OUSPQZ $SPTT&OUSPQZ MBCFM QSFUSBJOFE 4PGUUBSHFU )BSEUBSHFU ʢਖ਼ղϥϕϧʣ p 1 p 2 ʢ֬ʣ #BDLQSPQ
த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR MBCFM 4UVEFOU 4UVEFOU p 1 p 2 KL(p 1 ||p 2 ) KL(p 2 ||p 1 ) p 1 p 2 ˠྠߨͷΑ͏ͳֶशܗଶͰ͋ΓɺࣝৠཹΑΓਫ਼্͕ )BSE5BSHFU $SPTT&OUSPQZ 4PGU5BSHFU ,-EJWFSHFODF
Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4UVEFOU 4UVEFOU 4UVEFOU 4UVEFOU 4UVEFOU 4UVEFOU 4UVEFOU 5FBDIFS 4UVEFOU 5FBDIFS 4UVEFOU 5FBDIFS 5" 4UVEFOU ,OPXMFEHF%JTUJMMBUJPO %FFQ.VUVBM-FBSOJOH ,OPXMFEHF%JTUJMMBUJPO <()JOUPO > #PSO"HBJO <'VSMBOFMMP > 5FBDIFS"TTJTUBOU <.JS[BEFI > %FFQ.VUVBM-FBSOJOH<:;IBOH > -BSHFϞσϧ4NBMMϞσϧ ಉҰαΠζ தؒϞσϧ͋Γ -BSHFϞσϧ4NBMMϞσϧ ಉҰαΠζ Ϟσϧ p 1 p 2 p 1 p 2 p 1 p 2 p 1 p 2 p 1 p 2 p 3 p 1 p 2 p 3
0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ,OPXMFEHF%JTUJMMBUJPO <()JOUPO > #PSO"HBJO <'VSMBOFMMP > 5FBDIFS"TTJTUBOU <.JS[BEFI > %FFQ.VUVBM-FBSOJOH<:;IBOH > ,OPXMFEHF%JTUJMMBUJPO %FFQ.VUVBM-FBSOJOH ࣝৠཹɾ૬ޓֶशͷੜख๏ -BSHFϞσϧ4NBMMϞσϧ ಉҰαΠζ தؒϞσϧ͋Γ -BSHFϞσϧ4NBMMϞσϧ ಉҰαΠζ Ϟσϧ ਓ͕ઃܭͨ͠ݶఆతͳֶशํ๏
ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ʮૉਓൃʯ ˠڭࣨͰͷֶशͷΑ͏ʹઌੜ͔ΒͰͳ͘ଟ͘ͷੜె͕ෳࡶʹڭ͑͋͏ֶश
Λแͭͭ͠ɺ৽ֶ͍͠शํ๏ΛؚΉදݱํ๏ r ̐छྨͷ(BUFؔʹΑΓࣝసҠΛ੍ޚ͢Δ͜ͱͰଟ༷ͳڞಉֶश த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ,% %.- ຊݚڀͷඪ
Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ,OPXMFEHF%JTUJMMBUJPO ,% -BSHF 4NBMM 5FBDIFS 4UVEFOU 4UVEFOU 4UVEFOU -BSHF 4NBMM %FFQ.VUVBM-FBSOJOH %.- p 1 p 2 p 1 p 2 m 1 m 2 m 1 m 2 ํͷΤοδ ํͷΤοδ ˠ༗άϥϑͰैདྷͷ,%ͱ%.-ΛදݱͰ͖Δ
Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ ਖ਼ղϥϕϧ ධՁରϊʔυ 3FT/FU ิॿϊʔυ 3FT/FU 8JEF3FT/FU %FOTF/FU … ࣝసҠάϥϑ ϊʔυ͕ͷ߹
Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ ଛࣦؔ = ( ^ , ) = ( || ) = 0 … ࣝసҠάϥϑ ϊʔυ͕ͷ߹ ˠଟ༷ͳࣝసҠΛදݱ͢ΔϑϨʔϜϫʔΫΛઃܭ ʮݰਓ࣮ߦᶃʯ
Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR w ϊʔυ̎ TPVSDF ͔Βϊʔυ̍ EFTUJOBUJPO ͷࣝసҠ 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ 1 2 2,1 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ ධՁରϊʔυ
1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR -PTT GVOD 4PVSDF %FTUJOBUJPO 2 1 p 2 (c|x) p 1 (c|x) L 2,1 (p 2 , p 1 ) 'PSXBSE ଛࣦؔ
1,2 2,1 3, 3,2 2,3 ^ ^ 1 2 2,1 த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR -PTT GVOD 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) #BDLQSPQ %FUBDI #BDLXBSE ଛࣦؔ
2,3 ^ ^ 1 2 2,1 ήʔτؔ த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR -PTT GVOD 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) Gate KL div 'PSXBSE p 2 (c|x) p 1 (c|x)
^ 1 2 2,1 த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) 'PSXBSE p 2 (c|x) p 1 (c|x) Gate KL div $VUPGG(BUF -JOFBS(BUF 5ISPVHI(BUF $PSSFDU(BUF w ͲͷΑ͏ʹࣝసҠ͢Δ͔ΛήʔτؔʹΑΓ੍ޚ ήʔτؔ
2,3 ^ ^ 1 2 2,1 த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF ( ) = มߋΛՃ͑ͣɺ ͦͷ··ୡ 'PSXBSE p 2 (c|x) p 1 (c|x) Gate KL div ήʔτؔ
2,3 ^ ^ 1 2 2,1 த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF ৗʹΛग़ྗ Τοδͷஅ ( ) = 0 'PSXBSE p 2 (c|x) p 1 (c|x) Gate KL div ήʔτؔ
2,3 ^ ^ 1 2 2,1 த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF Gate KL div ࣌ؒͱڞʹग़ྗ͕ େ͖͘ͳΔ ( ) = ∙ 'PSXBSE p 2 (c|x) p 1 (c|x) ήʔτؔ
2,3 ^ ^ 1 2 2,1 த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF Gate KL div ਖ਼ղͨ͠αϯϓϧͷ ใͷΈୡ ( ) = ^, 2 ∙ 'PSXBSE p 2 (c|x) p 1 (c|x) ήʔτؔ
^ 1 2 2,1 த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 L 2,1 (p 2 , p 1 ) $VUPGG(BUF -JOFBS(BUF $PSSFDU(BUF 5ISPVHI(BUF Gate KL div 'PSXBSE p 2 (c|x) p 1 (c|x) ήʔτؔ w ͲͷΑ͏ʹࣝసҠ͢Δ͔ΛήʔτؔʹΑΓ੍ޚ
த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 3 1 2 ^,1 ^,2 ^,3 1,2 1,3 2,1 3,1 3,2 2,3 ^ ^ ^ ήʔτؔ • 5ISPVHI(BUF • $VUPGG(BUF • -JOFBS(BUF • $PSSFDU(BUF • 3FT/FU ධՁରϊʔυ • 3FT/FU • 3FT/FU • 8JEF3FT/FU ิॿϊʔυ શΈ߹Θͤɿ ௨Γʢϊʔυͷ߹ʣ
౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ڭࢣϥϕϧ ධՁରϊʔυ ิॿϊʔυ QSFUSBJOFE ิॿϊʔυ ڭࢣϥϕϧ ࠷దԽʹΑͬͯ֫ಘͨࣝ͠సҠάϥϑʢୈҐʣ
౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ิॿϊʔυ QSFUSBJOFE ิॿϊʔυ ධՁରϊʔυ ࣝৠཹ ࠷దԽʹΑͬͯ֫ಘͨࣝ͠సҠάϥϑʢୈҐʣ
౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ิॿϊʔυ QSFUSBJOFE ิॿϊʔυ ධՁରϊʔυ ॳΊ,%ϥΠΫͳֶशɼ࣍ୈʹ,%ʴ%.-ͳֶश͕ߦΘΕΔ ࠷దԽʹΑͬͯ֫ಘͨࣝ͠సҠάϥϑʢୈҐʣ ɹ૬ޓֶशɹ
౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ैདྷख๏ ,% %.- ͱͷൺֱ ख๏ ೝࣝ<> ิॿϊʔυͷϞσϧ *OEFQFOEFOU r ,% 3FT/FU QSFUSBJOFE %.- 3FT/FU 3FT/FU 0VST 3FT/FU QSFUSBJOFE 3FT/FU
0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ࠷దԽʹΑͬͯ֫ಘͨࣝ͠సҠάϥϑ $*'"3 ϊʔυɿ ϊʔυɿ ϊʔυɿ ϊʔυɿ ϊʔυɿ ϊʔυɿ *OEFQFOEFOU3FT/FU
0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ࠷దԽʹΑͬͯ֫ಘͨࣝ͠సҠάϥϑ $*'"3 ϊʔυɿ
τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Ξϯαϯϒϧϊʔυ ^ ^, 1 2 3 ^ ^ ^ ^,3 ^,2 ^,1 2,1 1,2 3,1 1,3 2,3 3,2 i,j = ( i , j) ± ( i , j ) Ξςϯγϣϯϩε
Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 4PVSDF %FTUJOBUJPO 2 1 p 2 (c|x) p 1 (c|x) 'PSXBSE Ξςϯγϣϯϩε 1 2 3 ^ ^ ^,2 ^,1 2,1 1,2 3,1 1,3 2,3 3,2 ,-EJW x x "UUFOUJPO "UUFOUJPO = ∑ =1 ɿಛϚοϓ ɿνϟωϧ ɿϊϧϜ ैདྷͷଛࣦ ( 2 , 1 ) = 1 ∑ 2 2 2 − 1 1 2 2 "UUFOUJPOଛࣦ (BUF 2,1 = G( ( 2 , 1) ± ( 2 , 1 )) ͚ۙͮΔ ͢ + −
Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 2 1 ϊʔυ̎ TPVSDF ͔Βϊʔυ̍ EFTUJOBUJPO ͷࣝసҠ 1 2 3 ^ ^ ^,2 ^,1 1,2 3,1 1,3 2,3 3,2 x x 4PVSDF %FTUJOBUJPO ͚ۙͮΔ ͢ + − 2,1 #BDLXBSE 2,1 = G( ( 2 , 1) ± ( 2 , 1 )) ,-EJW (BUF "UUFOUJPO "UUFOUJPO Detach Back-prop
ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ^ ^, 1 2 3 ^ ^ ^ ^,3 ^,2 ^,1 2,1 1,2 3,1 1,3 2,3 3,2 1 2 Ξϯαϯϒϧϊʔυ 3 Ξϯαϯϒϧػߏ ( ) = 1 ( ) + 2 ( ) + 3 ( | ) 1 ( ) 2 ( ) 3 ( ) ( )
Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ˠࣝసҠάϥϑʹ͓͍ͯΞϯαϯϒϧਫ਼্͕
౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ೖྗը૾ ˠҟͳΔΞςϯγϣϯϚοϓʢΞϯαϯϒϧʹదͨ͠ଟ༷ੑʣΛ֫ಘ
౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ˠҟͳΔΞςϯγϣϯϚοϓʢΞϯαϯϒϧʹదͨ͠ଟ༷ੑʣΛ֫ಘ ʹ͚ۙͮΔ ʹ͚ۙͮΔ ͔Β͢ ೖྗը૾ ʹ͚ۙͮΔ ͔Β͢ ͓ޓ͍ʹ͚ۙͮΔ ʹ͚ۙͮΔ ʹ͚ۙͮΔ ʹ͚ۙͮΔ
Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR w ࣝసҠάϥϑͷΞϯαϯϒϧΛڭࢣͱͯࣝ͠ৠཹ r ڭࢣωοτϫʔΫɿࣝసҠάϥϑͰֶशͨ͠ෳͷ"#/ʢ3FT/FUʣ r ੜెωοτϫʔΫɿ"#/ʢ3FT/FUʣ ೖྗը૾ 4UVEFOU/FUXPSL ωοτϫʔΫ 1 1 ( ) 3 ( ) ωοτϫʔΫ 3 ( ) ( ) ڭࢣϥϕϧ ^ ࣝసҠ ( ) Թ͖4PGUNBYؔ 5FBDIFS/FUXPSL 1 2 3 ࣝసҠάϥϑ
Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ࣝసҠάϥϑʹΑΔΞϯαϯϒϧΛৠཹ͢Δ͜ͱͰ ಉ͡ύϥϝʔλͰߴ͍ೝࣝੑೳΛൃش
r ,%ͱ%.-͕༥߹ͨࣝ͠సҠάϥϑैདྷ๏Λ͑Δਫ਼Λୡ ·ͱΊɿࣝసҠάϥϑʹΑΔڞಉֶश த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ,%ͱ%.-ͷ༥߹ͨࣝ͠సҠάϥϑ
r ҆ഒ͞Μɺੴ͞Μʢ%FOTP*5ʣɺ্୍ઌੜʢ۽ຊେʣ w ۚग़༤ઌੜʢ$.6ʣ த෦େֶ ֶ෦ϩϘο τཧֶՊ ڭत ౻٢߂ ػց֮ˍϩϘςΟ Ϋεάϧʔϓ 487-8501 Ѫݝय़Ҫࢢদຊொ1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp ത࢜ ʢֶʣ MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ँࣙ