{"created":"2023-06-19T12:47:02.550975+00:00","id":7172,"links":{},"metadata":{"_buckets":{"deposit":"9a8f8608-6180-4c1b-8dd6-9defb25cb2d7"},"_deposit":{"created_by":3,"id":"7172","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"7172"},"status":"published"},"_oai":{"id":"oai:tokyo-metro-u.repo.nii.ac.jp:00007172","sets":["1647:1607:1609"]},"author_link":["23331","23330","23328","23332","23327","23324","23325","23323","23329","23326"],"item_6_alternative_title_19":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Topological Structure Learning and Feature Extraction of 3D Point Clouds for Grasping"}]},"item_6_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2017-11","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"60","bibliographicPageStart":"57","bibliographicVolumeNumber":"27","bibliographic_titles":[{"bibliographic_title":"インテリジェントシステム・シンポジウム講演論文集"}]}]},"item_6_creator_3":{"attribute_name":"著者別名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Toda, Yuichiro"}],"nameIdentifiers":[{"nameIdentifier":"23328","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Kitai, Sasuga"}],"nameIdentifiers":[{"nameIdentifier":"23329","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Takesue, Naoyuki"}],"nameIdentifiers":[{"nameIdentifier":"23330","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Wada, Kazuyoshi"}],"nameIdentifiers":[{"nameIdentifier":"23331","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Kubota, Naoyuki"}],"nameIdentifiers":[{"nameIdentifier":"23332","nameIdentifierScheme":"WEKO"}]}]},"item_6_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Recently, the expectation to rescue robots has been increasing much in order to perform the monitoring in disaster areas. However, there are many critical problems in rescue robots. Especially, we must improve the perceptual system of the rescue robot by using 3D measurement sensor. In this paper, we discuss the learning method of topological structure from 3D point cloud and introduce our Sokuiki sensor array system for measuring 3D distance data. Next we explain Batch-Learning Growing Neural Gas (BL-GNG) for learning the topological structure. Furthermore, we apply BL-GNG to extract the topological structure of a ladder. Finally, we show several experimental results of the proposed method.","subitem_description_type":"Abstract"}]},"item_6_description_40":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"postprint","subitem_description_type":"Other"}]},"item_6_link_44":{"attribute_name":"権利URI","attribute_value_mlt":[{"subitem_link_text":"https://www.jsme.or.jp/","subitem_link_url":"https://www.jsme.or.jp/"}]},"item_6_publisher_33":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本機械学会"}]},"item_6_rights_13":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"日本機械学会"}]},"item_6_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA1190206X","subitem_source_identifier_type":"NCID"}]},"item_6_version_type_16":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"戸田, 雄一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"北井, 瑳佳"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"武居, 直行"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"和田, 一義"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"久保田, 直行"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2019-02-28"}],"displaytype":"detail","filename":"10987-001.pdf","filesize":[{"value":"564.4 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"10987-001.pdf","url":"https://tokyo-metro-u.repo.nii.ac.jp/record/7172/files/10987-001.pdf"},"version_id":"0d175445-0827-4d6c-88b3-af20b0dc8769"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Growing Neural Gas","subitem_subject_scheme":"Other"},{"subitem_subject":"3D Point Cloud Processing","subitem_subject_scheme":"Other"},{"subitem_subject":"Environmental Sensing","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"物体把持のための3次元点群の位相構造の学習と特徴抽出","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"物体把持のための3次元点群の位相構造の学習と特徴抽出"}]},"item_type_id":"6","owner":"3","path":["1609"],"pubdate":{"attribute_name":"公開日","attribute_value":"2019-03-14"},"publish_date":"2019-03-14","publish_status":"0","recid":"7172","relation_version_is_last":true,"title":["物体把持のための3次元点群の位相構造の学習と特徴抽出"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-06-19T16:20:54.060801+00:00"}