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成果報告書詳細
管理番号20190000000324
タイトル*平成30年度中間年報 次世代人工知能・ロボット中核技術開発 (革新的ロボット要素技術分野)自律型ヒューマノイドロボット 広角・多波長レーザレーダーによる超高感度コグニティブ視覚システム
公開日2019/6/19
報告書年度2018 - 2018
委託先名国立研究開発法人産業技術総合研究所 学校法人慶應義塾 株式会社ジェネシス
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title "Development of next generation artificial intelligence / robot core technology / (innovative robot element technology field) Autonomous humanoid robot / ultra-sensitive cognitive visual system using wide-angle / multi-wavelength laser Lidar", (FY2015-FY2019) FY2018 Annual Report

Subcontractor; National Institute of Advanced Industrial Science and Technology (AIST),
Keio University, Genesis Co., Ltd.

Abstract
1. Practical realization of high speed/wide angle scanner module (AIST and Genesis)
Failure mode analysis of high speed/wide angle scanner module was carried out. Heat cycle test (-40℃~100℃) of each element was carried out, and it was confirmed that there was almost no problem.

2. Prototype of a new digital coherent Lidar (AIST and Genesis)
For the digital coherent Lidar, which is a proprietary method, the following methods have been developed: (a) the digital signal processing (DSP) that simultaneously detects the distance and the speed of the measurement object, (b) the method of reducing the amount of calculation in DSP, (c) the measurement method in the region exceeding the coherence length of the laser, (d) the method of reducing the influence of the modulation and the speckle noise

3. Construction of harmful gas detection system with Lidar (Keio University)
A gas detection system by differential detection was constructed, and the light absorption peak of ammonia sealed in the gas cell was detected by sweeping the wavelength of the laser. Laser light is branched by a coupler, and the difference between the power of light transmitting through the cell with gas and without gas is measured with a differential-photodiode and an amplifier. It is found that the absorption peak was detectable up to the received light power of -58 dBm.

4. Implementation of electronic circuit and software for controlling robot's eyes on visual system (Genesis)
In order to realize the warp scan, an electronic circuit that can sequentially apply a voltage pattern to the device with the high speed and high bit rate corresponding to an arbitrary scan is necessary. To satisfy the above both, we developed a controller incorporating a high voltage amplifier and a CPU / FPGA that executes a program scan. In addition, a user interface for controlling this controller was created independently.
 
5. Implementation of artificial intelligence software which can extract and recognize the various kind of items such as people, objects etc. from the 3-D images (AIST)
In order to learn the CNN filter of the Lidar image, a study of analysis to integrate the camera image filters and the point cloud data acquired by the Lidar is carried out. The camera image filters have already been learned with many data sets are fused to the new filter obtained by the point cloud data which is not enough to recognize the various kind of objects currently. It was found that above method is useful to construct CNN of point cloud data.
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