Updated on 2021/05/12

写真a

 
TAKAHASHI Junji
 
Organization
Research Field in Engineering, Science and Engineering Area Graduate School of Science and Engineering (Engineering) Department of Engineering Mechanical Engineering Program Associate Professor
Title
Associate Professor

Degree

  • Doctor (Eng.) ( 2010.3   Nagoya University )

  • Master (Eng.) ( 2007.3   Nagoya University )

  • Bachelor (Eng.) ( 2005.3   Nagoya University )

Research Interests

  • 知能ロボット

  • 異種ロボットコミュニケーション

  • 写像推定

Research Areas

  • Informatics / Intelligent robotics

Education

  • Nagoya University   Micro-nano systems engineering

    2007.4 - 2010.3

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    Country: Japan

  • Nagoya University   Micro-nano systems engineering

    2005.4 - 2007.3

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    Country: Japan

  • Nagoya University   Mechanical and Aerospace Engineering

    1999.4 - 2005.3

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    Country: Japan

Research History

  •   情報テクノロジー学科   助教

    2013.4 - 2017.9

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    Country:Japan

  •   工学研究科   研究員

    2012.4 - 2013.3

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    Country:Japan

  •   システム情報工学研究科   研究員

    2010.4 - 2012.3

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    Country:Japan

  • Kagoshima University   Research Field in Engineering, Science and Engineering Area Graduate School of Science and Engineering (Engineering) Department of Engineering Mechanical Engineering Program   Associate Professor

    2020.4

  • Kagoshima University   Research Field in Engineering, Science and Engineering Area Graduate School of Science and Engineering (Engineering) Mechanical Engineering Course   Associate Professor

    2017.10 - 2020.3

  • University of Tsukuba   Researcher

    2011

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Studying abroad experiences

  • 2015.8   TECO, Karlsruhe Institute of Technology, Gemany   Visiting researcher

 

Papers

  • Junji Takahashi, Masato Kawabe, Seiya Ito, Naoshi Kaneko, Wataro Takahashi, Toshiaki Sakamoto, Akihiro Shibata, and Yong Yu .  Image-retrieval Method Using Gradient Dilation Images for Cloud-based Positioning System with 3D Wireframe Map .  Sensors and Materials32 ( 2 ) 611 - 623   2020.2Reviewed

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:MYU K.K.  

    DOI: https://doi.org/10.18494/SAM.2020.2678

    Other Link: https://myukk.org/SM2017/article.php?ss=2678

  • Tomoya KANEKO, Junji TAKAHASHI, Seiya ITO, Yoshito TOBE .  A Hybrid Map with Permanent 3D Wireframes and Temporal Line Segments toward Long-term Visual Localization .  SICE Journal of Control, Measurement, and System Integration12 ( 4 ) 149 - 155   2019.6Reviewed

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)  

    DOI: https://doi.org/10.9746/jcmsi.12.149

  • Junji TAKAHASHI, Teruaki BANDO and Guillaume LOPEZ .  Analysis and Quantification on Assessment Criterion of Iaido Proficiency level with Motion Capture Measurements .    21 ( 3 ) 541 - 548   2016Analysis and Quantification on Assessment Criterion of Iaido Proficiency level with Motion Capture MeasurementsReviewed

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    Authorship:Lead author   Language:Japanese   Publishing type:Research paper (scientific journal)  

    This paper discusses quantication method of prociency of sport skill with Iaido as a subject. Iaido is a modern Japanese martial art using a Japanese sword. A player executes a sequence of actions: drawing the sword from scabbard, cutting a virtual opponent, removing blood from the blade, and sheathing the sword. We measured motions of athlete playing the Iaido by motion capture system, then analyzed motion trajectory to predict the skill level as a score. The predicted scores were compared with the professional rating scores to evaluate the validity of the subjective assessment of professional. The comparing result shows the validity and fairness of subjective assessment of professional. Also, the results shows the validity of our proposed rating algorithm.

    DOI: https://doi.org/10.18974/tvrsj.21.3_541

  • Junji Takahashi, Tomoya Fukukawa, Toshio Fukuda .  Passive Alignment Principle for Robotic Assembly between a Ring and a Shaft with Extremely Narrow Clearance .  IEEE-ASME TRANSACTIONS ON MECHATRONICS21 ( 1 ) 196 - 204   2016.2Reviewed

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE  

    This paper deals with precise insertion processing
    (peg-in-hole task) for speeding up and increasing
    flexibility of assembly process in factory automation. When a gap between a peg and a hole is narrower than positioning accuracy of robotic manipulator, it is impossible to succeed
    the peg-in-hole task by conventional position control methods. Moreover, in the case that a robotic hand holds a deformable thin ring and put it around a shaft, the insertion process becomes increasingly difficult because the gripping
    force deforms the ring and the narrow gap is crushed. We propose a novel mating technique based on passive alignment principle (PAP) in order to solve the twin problems of accuracy and deformation. The PAPmechanism can correct the ring position in nanoorder and remove the ring deformation. We derived the limitations of the PAP, which
    are remaining position errors after the PAP applied, based on Hertz stress. We also analyzed accuracy requirements of industrial robotic manipulator for applying the PAP and calculated allowance diagrams. We conducted 280 mating and insertion experiments with four kinds of materials of rings and shafts with three different insertion directions.
    The success rate 97.8% validates our proposed PAP-based mating algorithm.

    DOI: 10.1109/TMECH.2015.2448639

    Other Link: http://ieeexplore.ieee.org/document/7131560/

  • Junji Takahashi, Yusuke Kobana, Naoya Isoyama, Yoshito Tobe, Guillaume Lopez .  YKOB: Participatory Sensing-Based Road Condition Monitoring Using Smartphones Worn by Cyclist .  Electrical Engineering in Japan101 ( 4 ) 3 - 14   2018.2Reviewed

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    Authorship:Lead author   Language:English   Publishing type:Research paper (scientific journal)   Publisher: John Wiley & Sons, Inc.  

    DOI: https://doi.org/10.1002/ecj.12027

  • Satoshi Moriyama, Yusuke Kawakita, Junji Takahashi, Yoshito Tobe .  Controlling of Communication Connection Range using Acoustic Waves Emitted from Smartphones .  Journal of Reliable Intelligent Environments 4 ( 1 ) 75 - 87   2018.4Reviewed

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Springer Link  

    DOI: https://doi.org/10.1007/s40860-018-0059-0

  • Takahashi Junji, Kobana Yusuke, Isoyama Naoya, Tobe Yoshito, Lopez Guillaume .  YKOB: Participatory Sensing based Road Condition Monitoring using Smartphones worn by Cyclist .  IEEJ Transactions on Electronics, Information and Systems137 ( 4 ) 658 - 666   2017Invited Reviewed

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Institute of Electrical Engineers of Japan  

    <p>We propose a novel road monitoring system named YKOB (Your Kinetic Observation Bike) based on participatory sensing. YKOB collects acceleration signals using smartphones worn by cyclists, and analyzes the collected signals to investigate road surface condition. When a bicycle passes on a bump or a dimple, its wheels vibrate. The vibrations are transmitted to the smartphone via the bicycle frame or the cyclist body, and registered as acceleration signals. Conversely, by analyzing the acceleration signals we can estimate the road surface condition. There are mainly two research issues in this system. The first issue is that the acceleration registered at the smartphone includes cyclist motion signal as well as road surface signal. The second issue is that it is necessary to distinguish abnormality of road surface from artificial differences in level, such as a difference between streets and sidewalks. We developed a signal separation algorithm based on Independent Component Analysis (ICA) to solve the first issue. We also developed a bump classification algorithm using Real Mother Wavelet (RMW). These two proposed algorithms were evaluated with 640 trials in total of experimental data conducted by eight cyclists. The classification accuracy of 0.68 validates the simultaneous utilization of our proposed algorithms.</p>

    DOI: 10.1541/ieejeiss.137.658

    CiNii Article

    CiNii Books

  • Junji Takahashi, Kohei Shimmra, Yong Yu, Akihiro Shibata, Toshiki Sakamoto .  Simulation study of allowance-difference between an environment and a map for visual localization .  The 15th International Conference on Intelligent Environments   2019.6Simulation study of allowance-difference between an environment and a map for visual localizationReviewed

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    Authorship:Lead author   Language:English   Publishing type:Research paper (international conference proceedings)  

  • Wataro Takahashi, Junji Takahasi, Yoshito Tobe .  Using Wi-Fi Signals for Creating a Clustered Image Database in UMap .  The 8th International Workshop on the Reliability of Intelligent Environments   2019.6Using Wi-Fi Signals for Creating a Clustered Image Database in UMapReviewed

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    Language:English   Publishing type:Research paper (international conference proceedings)  

  • 二宮佑樹、高橋淳二、余永 .  テクスチャレス環境でのマニュアルキーポイント設定を用いたSfM .  計測自動制御学会スマートセンシングシステム部会研究発表会   2019.11テクスチャレス環境でのマニュアルキーポイント設定を用いたSfM

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    Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)  

  • 前田聖宙、高橋淳二、余永 .  天井画像データベースを用いたロボット台車の位置推定 .  計測自動制御学会スマートセンシングシステム部会研究発表会   2019.11天井画像データベースを用いたロボット台車の位置推定

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    Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)  

  • 山下莉生、高橋 淳二、余永 .  傾斜設置2次元LiDARの3次元CADマップ内位置推定 .  計測自動制御学会スマートセンシングシステム部会研究発表会   2019.11傾斜設置2次元LiDARの3次元CADマップ内位置推定

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    Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)  

  • 坂元利伎、柴田晃宏、新村航平、高橋淳二、余永 .  UMapのための3次元 CAD データ作成法の検証 .  計測自動制御学会スマートセンシングシステム部会研究発表会   2019.11UMapのための3次元 CAD データ作成法の検証

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    Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)  

  • 川邉誠仁、高橋淳二、余永 .  勾配膨張類似度演算によるクラウド型位置推定技術の高精度化 .  日本機械学会ロボテイクス・メカトロニクス部門講演会   2019.6勾配膨張類似度演算によるクラウド型位置推定技術の高精度化

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    Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)  

  • 森瑛司、高橋淳二、余永 .  Visual SLAM とクラウド型位置推定システムの併用による誘拐ロボット問題の解決 .  日本機械学会ロボテイクス・メカトロニクス部門講演会   2019.6Visual SLAM とクラウド型位置推定システムの併用による誘拐ロボット問題の解決

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    Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)  

  • 白濱幹智、高橋淳二、余永 .  クラウド型位置推定システムによる複数対象の詳細追跡 .  日本機械学会ロボテイクス・メカトロニクス部門講演会   2019.6クラウド型位置推定システムによる複数対象の詳細追跡

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    Language:Japanese   Publishing type:Research paper (conference, symposium, etc.)  

  • Takahashi J. .  Simulation study of allowance-difference between an environment and a map for visual localization .  Proceedings - 2019 15th International Conference on Intelligent Environments, IE 2019   76 - 79   2019.6

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    Publisher:Proceedings - 2019 15th International Conference on Intelligent Environments, IE 2019  

    DOI: 10.1109/IE.2019.00023

    Scopus

  • Kusuno Y. .  A Method Localizing an Omnidirectional Image in Pre-Constructed 3D Wireframe Map .  Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019   325 - 329   2019.4

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    Publisher:Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019  

    DOI: 10.1109/SII.2019.8700393

    Scopus

  • Akada A. .  Improvements of Image Retrieval-based Visual Localization Using Structured Database .  2019 IEEE International Conference on Pervasive Computing and Communications Workshops, PerCom Workshops 2019   601 - 606   2019.3

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    Publisher:2019 IEEE International Conference on Pervasive Computing and Communications Workshops, PerCom Workshops 2019  

    DOI: 10.1109/PERCOMW.2019.8730768

    Scopus

  • Ito S. .  Global localization from a single image in known indoor environments .  2018 Joint 7th International Conference on Informatics, Electronics and Vision and 2nd International Conference on Imaging, Vision and Pattern Recognition, ICIEV-IVPR 2018   70 - 75   2019.2

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    Publisher:2018 Joint 7th International Conference on Informatics, Electronics and Vision and 2nd International Conference on Imaging, Vision and Pattern Recognition, ICIEV-IVPR 2018  

    DOI: 10.1109/ICIEV.2018.8641025

    Scopus

  • KAWABE Masato, TAKAHASHI Junji, YU Yong .  Improvement of Localization Accuracy of Cloud-based Localization System by Gradient Dilation Matching .  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)2019 ( 0 ) 1A1 - H01   2019

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    Publisher:The Japan Society of Mechanical Engineers  

    <p>This paper proposed a method of improvement of Localization Accuracy of Cloud-based Localization System using 3D CAD map (Universal Map) by gradient dilation matching. This system only prepares line segment datebase images made from 3D wireframe map in advance to estimate location. This system estimates a location by matching sensing image and database images. But, if this system uses conventional similarity operation, there was a case in which image matching failure occurs. So, I developed gradient dilation image which is converted from line segment images and new similarity operation to reduce matching failure. gradient dilation image is dilated line segments and give a gradient to density. gradient dilation matching improved localization accuracy by 90% in Universal Map.</p>

    DOI: 10.1299/jsmermd.2019.1A1-H01

    CiNii Article

  • SHIRAHAMA Mikitomo, TAKAHASHI Junji, YONG Yu, SHIBATA Akihiro .  Detailed Tracking of Multiple Objects by Using Cloud-base Localization Infrastructure System .  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)2019 ( 0 ) 2P2 - D06   2019

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    Publisher:The Japan Society of Mechanical Engineers  

    <p>In localization based on image comparison, enlargement of the image database (DB) is problematic. In this research, we measured the camera posture using an inertial sensor and developed a method to correct the inclination of the captured image. As a result, reduction of the image database was achieved.</p>

    DOI: 10.1299/jsmermd.2019.2P2-D06

    CiNii Article

  • MORI Eiji, TAKAHASHI Junji, YU Yong, SHIBATA Akihiro .  A Solution Method of Kidnapped Problem using Universal Map and Visual-SLAM .  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)2019 ( 0 ) 1A1 - H02   2019

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    Publisher:The Japan Society of Mechanical Engineers  

    <p>In this paper, we propose a solution method of kidnapped problem. In the case where the tracking of the self position becomes impossible after losing the feature point, we will develop a method to identify the position and restore the route by using a cloud type system that can find global localization.</p>

    DOI: 10.1299/jsmermd.2019.1A1-H02

    CiNii Article

  • KANEKO Tomoya, TAKAHASHI Junji, ITO Seiya, TOBE Yoshito .  A Hybrid Map with Permanent 3D Wireframes and Temporal Line Segments toward Long-Term Visual Localization .  サイス ジェイシムシ12 ( 4 ) 149 - 155   2019

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    Publisher:公益社団法人 計測自動制御学会  

    <p>This paper deals with map-construction problems for visual localization. Basically, the map is an aggregation of visual landmarks, and it is desirable that such landmarks exist densely and permanently for long-term localization. However, there are no landmarks with these attributes at the same time. In order to solve this problem, we propose a hybrid map with permanent landmarks and temporal landmarks. As a permanent landmark, we employ 3D wireframe which can be easily obtained from architectural CAD. For a temporal landmark, we use line segments which are visually detected in images captured by a camera. To handle these two types of landmarks on the same map, we develop two algorithms. One is to extract temporal line segments from images containing two mixed landmarks, and the other is to reconstruct them into the 3D wireframe map. We experimentally demonstrated that the proposed hybrid map outperformed the 3D wireframe map in terms of localization accuracy.</p>

    DOI: 10.9746/jcmsi.12.149

    CiNii Article

  • Moriyama S. .  Controlling of communication connection range using acoustic waves emitted from smartphones .  Journal of Reliable Intelligent Environments4 ( 2 ) 75 - 87   2018.7

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    Publisher:Journal of Reliable Intelligent Environments  

    DOI: 10.1007/s40860-018-0059-0

    Scopus

  • Junji Takahashi, Yusuke Kobana, Naoya Isoyama, Yoshito Tobe, Guillaume Lopez .  YKOB: Participatory Sensing-Based Road Condition Monitoring Using Smartphones Worn by Cyclist .  Electronics and Communications in Japan101 ( 4 ) 3 - 14   2018.4

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    Publisher:Wiley-Liss Inc.  

    We propose a novel road monitoring system named YKOB (Your Kinetic Observation Bike) based on participatory sensing. YKOB collects acceleration signals using smartphones worn by cyclists, and analyzes the collected signals to investigate road surface condition. When a bicycle passes on a bump or a dimple, its wheels vibrate. The vibrations are transmitted to the smartphone via the bicycle frame or the cyclist body, and registered as acceleration signals. Conversely, by analyzing the acceleration signals we can estimate the road surface condition. There are mainly two research issues in this system. The first issue is that the acceleration registered at the smartphone includes cyclist motion signal as well as road surface signal. The second issue is that it is necessary to distinguish abnormality of road surface from artificial differences in level, such as a difference between streets and sidewalks. We developed a signal separation algorithm based on independent component analysis to solve the first issue. We also developed a bump classification algorithm using real mother wavelet. These two proposed algorithms were evaluated with 640 trials in total of experimental data conducted by eight cyclists. The classification accuracy of 0.68 validates the simultaneous utilization of our proposed algorithms.

    DOI: 10.1002/ecj.12027

    Scopus

  • Junji Takahashi, Yusuke Kobana, Naoya Isoyama, Yoshito Tobe, Guillaume Lopez .  YKOB: Participatory Sensing based Road Condition Monitoring using Smartphones worn by Cyclist .  Electronics and Communications in Japan0 ( 0 ) 105 - 115   2018.2YKOB: Participatory Sensing based Road Condition Monitoring using Smartphones worn by Cyclist

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  • Junji Takahashi .  Universal Map: A Concept and Recent Results of Cloud-Based Positioning Infrastructure System. .  Intelligent Environments 2018 - Workshop Proceedings of the 14th International Conference on Intelligent Environments, Rome, Italy, 25-28 June 2018   149 - 156   2018

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    Publisher:IOS Press  

    DOI: 10.3233/978-1-61499-874-7-149

  • Wataro Takahashi, Junji Takahashi, Yoshito Tobe .  Improvement of Localization Accuracy with Consecutive Images Using Pre-Map. .  Intelligent Environments 2018 - Workshop Proceedings of the 14th International Conference on Intelligent Environments, Rome, Italy, 25-28 June 2018   544 - 550   2018

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    Publisher:IOS Press  

    DOI: 10.3233/978-1-61499-874-7-544

  • Masaru Onodera, Tomoya Kaneko, Junji Takahashi, Yoshito Tobe .  HLSI: Intelligent Sensors with HTTP Connection to Servers. .  Intelligent Environments 2018 - Workshop Proceedings of the 14th International Conference on Intelligent Environments, Rome, Italy, 25-28 June 2018   551 - 556   2018

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    Publisher:IOS Press  

    DOI: 10.3233/978-1-61499-874-7-551

  • Satoshi Moriyama, Yuusuke Kawakita, Junji Takahashi, Yoshito Tobe .  Controlling of communication connection range using acoustic waves emitted from smartphones. .  J. Reliable Intelligent Environments4 ( 2 ) 75 - 87   2018

  • Shunki Kitsunai, Junji Takahashi, Yoshito Tobe .  A Message Sharing System that Enables Highly Accurate Space Attachment Linked with the Web. .  International Conference on Information and Communication Technology Convergence, ICTC 2018, Jeju Island, Korea (South), October 17-19, 2018   160 - 165   2018

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    Publisher:IEEE  

    DOI: 10.1109/ICTC.2018.8539411

    Scopus

  • Taiki Watanabe, Junji Takahashi, Yoshito Tobe .  Investigation of an algorithm to maximize the information observed by multiple autonomous UAVs .  Proceedings of IEEE Sensors2017-   1 - 3   2017.12Investigation of an algorithm to maximize the information observed by multiple autonomous UAVs

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    Publisher:Institute of Electrical and Electronics Engineers Inc.  

    In this paper we propose an algorithm to maximize the information about a monitored target object for controlling multiple autonomous Unmanned Aerial Vehicles (UAVs). Our scheme does not require manual operation of UAVs and they can determine their movement solely based on the algorithm. We use the number of feature points of the target object and multiple UAVs alternatingly move until they converge to the suitable monitoring point. This paper describes the design of our scheme and the result of preliminary evaluation.

    DOI: 10.1109/ICSENS.2017.8233987

    Scopus

  • Ryuji Suzuki, Junji Takahashi, Yoshito Tobe .  Effectivity evaluation of YKOB in actual city road. .  IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, December 11-14, 20172018-January   276 - 281   2017

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    Publisher:IEEE  

    DOI: 10.1109/SII.2017.8279225

    Scopus

  • Satoshi Moriyama, Junji Takahashi, Yoshito Tobe .  Creation of Communication Groups Using Sound of Smartphones. .  Intelligent Environments 2017 - Workshop Proceedings of the 13th International Conference on Intelligent Environments, Seoul, Korea, August 2017   8 - 14   2017

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    Publisher:IOS Press  

    DOI: 10.3233/978-1-61499-796-2-8

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Intellectual Property

  • 組み立て装置、部品の組み立て方法及び相対位置調整方法

    福田敏男、高橋淳二、福川智哉、新井雅之

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    Applicant:福田敏男、キヤノン株式会社

    Application no:2013-107486  Date applied:2013.5

    Announcement no:2014-226744  Date announced:2014.12

    Patent/Registration no:6184169  Date issued:2017.8

    Rights holder:福田敏男、キヤノン株式会社

  • ロボット装置及び部品の組み立て方法

    福田敏男、高橋淳二、福川智哉、新井雅之

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    Applicant:キヤノン株式会社

    Application no:2012-273753  Date applied:2012.12

    Publication no:2014-117766  Date published:2014.6

    Patent/Registration no:6172929  Date registered:2017.7 

    Rights holder:キヤノン株式会社

  • 発電装置及びそれを用いた充電装置

    福田敏男,新井史人,高橋淳二,糸魚川貢一,田中賢次,塚原靖典

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    Application no:2005-319499 

    Announcement no:2007-129814 

Awards

  • 第30回学会誌論文賞

    2016.9   日本ロボット学会   受動調芯原理を利用したロボットマニピュレータによる自動精密はめあい

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    Award type:Honored in official journal of a scientific society, scientific journal  Country:Japan

  • 平成28年度論文賞

    2016.12   FA財団   受動調芯原理を利用したロボットマニピュレータによる自動精密はめあい

  • 第43期研究奨励賞

    2013.1   計測自動制御学会 中部支部  

  • Best Paper Award

    2008.12   IEEE 9th International Symposium on Distributed Autonomous Robotic Systems   Cooperative Object Tracking with Mobile Robotic Sensor Network

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    Award type:Award from international society, conference, symposium, etc. 

  • 優秀発表(第71回モバイルコンピューティングとユビキタス通信研究会)

    情報処理学会   自転車走行時の路面情報抽出:基本検討および実測定

    小花 祐輔, 高橋 淳二, 宇佐美 格, 狐崎 直文, 戸辺 義人, ロペズ ギヨーム