{"created":"2023-05-15T11:59:53.908647+00:00","id":6521,"links":{},"metadata":{"_buckets":{"deposit":"10a3683b-09ee-4eb5-97cd-080dfe1f2a43"},"_deposit":{"created_by":3,"id":"6521","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"6521"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00006521","sets":["8:24"]},"author_link":["27592","27621","27618","27622","27623","27617","27619"],"control_number":"6521","item_21_alternative_title_18":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Bayesian Nonparametric Learning of Cloth Models for Real-time State Estimation","subitem_alternative_title_language":"en"}]},"item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2017-05-17","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"4","bibliographicPageEnd":"931","bibliographicPageStart":"916","bibliographicVolumeNumber":"33","bibliographic_titles":[{"bibliographic_title":"IEEE Transactions on Robotics"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Robotic solutions to clothing assistance can significantly improve quality of life for the elderly and disabled. Real-time estimation of the human-cloth relationship is crucial for efficient learning of motor skills for robotic clothing assistance. The major challenge involved is cloth-state estimation due to inherent nonrigidity and occlusion. In this study, we present a novel framework for real-time estimation of the cloth state using a low-cost depth sensor, making it suitable for a feasible social implementation. The framework relies on the hypothesis that clothing articles are constrained to a low-dimensional latent manifold during clothing tasks. We propose the use of manifold relevance determination (MRD) to learn an offline cloth model that can be used to perform informed cloth-state estimation in real time. The cloth model is trained using observations from a motion capture system and depth sensor. MRD provides a principled probabilistic framework for inferring the accurate motion-capture state when only the noisy depth sensor feature state is available in real time. The experimental results demonstrate that our framework is capable of learning consistent task-specific latent features using few data samples and has the ability to generalize to unseen environmental settings. We further present several factors that affect the predictive performance of the learned cloth-state model.","subitem_description_type":"Abstract"}]},"item_21_description_60":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Journal Article","subitem_description_type":"Other"}]},"item_21_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"27621","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Koganti,  N.","nameLang":"en"}]},{"nameIdentifiers":[{"nameIdentifier":"27622","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Tamei,  T.","nameLang":"en"}]},{"nameIdentifiers":[{"nameIdentifier":"27623","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Ikeda,  K.","nameLang":"en"}]},{"affiliations":[{"affiliationNames":[{"affiliationName":"","lang":"ja"}],"nameIdentifiers":[]}],"familyNames":[{"familyName":"Shibata","familyNameLang":"en"},{"familyName":"柴田","familyNameLang":"ja"},{"familyName":"シバタ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Tomohiro","givenNameLang":"en"},{"givenName":"智広","givenNameLang":"ja"},{"givenName":"トモヒロ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"27592","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"40359873","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000040359873"},{"nameIdentifier":"35460767600","nameIdentifierScheme":"Scopus著者ID","nameIdentifierURI":"https://www.scopus.com/authid/detail.uri?authorId=35460767600"},{"nameIdentifier":"0000-0002-8766-4250","nameIdentifierScheme":"ORCiD","nameIdentifierURI":"https://orcid.org/0000-0002-8766-4250"},{"nameIdentifier":"100000703","nameIdentifierScheme":"九工大研究者情報","nameIdentifierURI":"https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html"}],"names":[{"name":"Shibata, Tomohiro","nameLang":"en"},{"name":"柴田, 智広","nameLang":"ja"},{"name":"シバタ, トモヒロ","nameLang":"ja-Kana"}]}]},"item_21_link_62":{"attribute_name":"研究者情報","attribute_value_mlt":[{"subitem_link_url":"https://hyokadb02.jimu.kyutech.ac.jp/html/100000703_ja.html"}]},"item_21_publisher_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"IEEE"}]},"item_21_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1109/TRO.2017.2691721","subitem_relation_type_select":"DOI"}}]},"item_21_rights_13":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"Copyright (c) 2017 IEEE. Personal use of this material is permitted.  Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA1196840X","subitem_source_identifier_type":"NCID"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1552-3098","subitem_source_identifier_type":"PISSN"},{"subitem_source_identifier":"1941-0468","subitem_source_identifier_type":"EISSN"}]},"item_21_text_28":{"attribute_name":"論文ID（連携）","attribute_value_mlt":[{"subitem_text_value":"10302310"}]},"item_21_text_36":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan"},{"subitem_text_value":"Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan"},{"subitem_text_value":"Graduate School of Information Science, Nara Institute of Science and Technology, Ikoma, Nara, Japan"},{"subitem_text_value":"Graduate School of Life Sciences and Systems Engineering, Kyushu Institute of Technology, Kitakyushu, Fukuoka, Japan"}]},"item_21_text_63":{"attribute_name":"連携ID","attribute_value_mlt":[{"subitem_text_value":"8237"}]},"item_21_version_type_58":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Koganti,  Nishanth","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tamei,  Tomoya","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Ikeda,  Kazushi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"Shibata, Tomohiro","creatorNameLang":"en"},{"creatorName":"柴田, 智広","creatorNameLang":"ja"},{"creatorName":"シバタ, トモヒロ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{},{},{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-05-11"}],"displaytype":"detail","filename":"10302310.pdf","filesize":[{"value":"3.2 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"10302310.pdf","url":"https://kyutech.repo.nii.ac.jp/record/6521/files/10302310.pdf"},"version_id":"cb44e686-aecc-45ba-a4d8-103db7a2dbb2"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Cloth-state estimation","subitem_subject_scheme":"Other"},{"subitem_subject":"learning and adaptive systems","subitem_subject_scheme":"Other"},{"subitem_subject":"personal robots","subitem_subject_scheme":"Other"},{"subitem_subject":"robotic clothing assistance","subitem_subject_scheme":"Other"},{"subitem_subject":"visual tracking","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"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":"Bayesian Nonparametric Learning of Cloth Models for Real-Time State Estimation","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Bayesian Nonparametric Learning of Cloth Models for Real-Time State Estimation","subitem_title_language":"en"}]},"item_type_id":"21","owner":"3","path":["24"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2020-05-11"},"publish_date":"2020-05-11","publish_status":"0","recid":"6521","relation_version_is_last":true,"title":["Bayesian Nonparametric Learning of Cloth Models for Real-Time State Estimation"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2023-10-25T10:56:06.609366+00:00"}