Bio-Robotics & Human-Mechatronics Laboratory  --- publication|FiscalYear (Takafumi Matsumaru Laboratory)
		Graduate School of Information, Production and Systems (IPS), WASEDA University

---

  -   FY2025

• Books
• Refereed Journal Articles
  1. Xin He, Teresa Zielinska, Takafumi Matsumaru, Vibekananda Dutta: "Robotic artistic writing -- reproduction of signs drawn on the surface of plastically deformable materials", IEEE Sensors Journal, Vol.xx, No.xx, pp.xx-xx, (2025.xx).
     DOI: 10.1109/JSEN.2025.3555571
• Refereed Conference and Workshop Proceedings Publications
• Refereed Tutorial Paper

  -   FY2024

• Books
• Refereed Journal Articles
  1. Pengcheng Han, Xin He, Takafumi Matsumaru, Vibekananda Dutta: "Spatio-temporal Transformer with Kolmogorov-Arnold Network for Skeleton-Based Hand Gesture Recognition", Sensors (MDPI) (ISSN 1424-8220), Vol.25, Issue 3, 702 (23 pages), (2025.01.24).
     DOI: 10.3390/s25030702
     https://www.mdpi.com/1424-8220/25/3/702
  2. Zhikun Ma, Qicong Sun, Takafumi Matsumaru: "Bidirectional Planning for Autonomous Driving Framework with Large Language Model", Sensors (MDPI) (ISSN 1424-8220), Vol.24, Issue 20, 6723 (24 pages), (2024.10.19).
     DOI: 10.3390/s24206723
     https://www.mdpi.com/1424-8220/24/20/6723
  3. Xin He, Teresa Zielinska, Vibekananda Dutta, Takafumi Matsumaru, Robert Sitnik: "From Seeing to Recognising - an Extended Self-Organizing Map for Human Postures Identification", IEEE Robotics and Automation Letters, Vol.9, Issue 9, pp.7899-7906 (8 pages), (2024.07.24).
     DOI: 10.1109/LRA.2024.3433201
     https://ieeexplore.ieee.org/document/10608412
• Refereed Conference and Workshop Proceedings Publications
• Refereed Tutorial Paper

  -   FY2023

• Books
• Refereed Journal Articles
  1. Xuhang Tan, Jicheng Tong, Takafumi Matsumaru, Vibekananda Dutta, Xin He: "An End-to-End Air Writing Recognition Method Based on Transformer", IEEE Access (ISSN 2169-3536), Vol.11, pp.109885-109898 (14 pages), (2023.10.04).
     DOI: 10.1109/ACCESS.2023.3321807
     https://ieeexplore.ieee.org/document/10271313
• Refereed Conference and Workshop Proceedings Publications
  1. Xin He, Vibekananda Dutta, Teresa Zielinska, Takafumi Matsumaru: "A Probabilistic Approach Based on Combination of Distance Metrics and Distribution Functions for Human Postures Classification", 32nd IEEE International Conference on Robot and Human Interactive Communication (IEEE RO-MAN 2023), (28-31 Aug, 2022), [Busan, South Korea], pp.1514-1521, (2023.08.30.Wed).
     DOI: 10.1109/RO-MAN57019.2023.10309359
     https://ieeexplore.ieee.org/document/10309359
• Refereed Tutorial Paper

  -   FY2022

• Books
• Refereed Journal Articles
  1. Shizhuo Xu, Vibekananda Dutta, Xin He, Takafumi Matsumaru: "A Transformer-Based Model for Super-resolution of Anime Image", Sensors (MDPI) (ISSN 1424-8220), Vol.22, Issue 21, 8216 (31pages), (2022.10.24).
     DOI: 10.3390/s22218126
     https://www.mdpi.com/1424-8220/22/21/8126
  2. Shengyin Li, Vibekananda Dutta, Xin He, Takafumi Matsumaru: "Deep Learning Based One-Class Detection System for Fake Faces Generated by GAN Network", Sensors (MDPI) (ISSN 1424-8220), Vol.22, Issue 20, 7767 (24pages), (2022.10.13).
     DOI: 10.3390/s22207767
     https://www.mdpi.com/1424-8220/22/20/7767
  3. Takafumi Matsumaru: "Methods of Generating Emotional Movements and Methods of Transmitting Behavioral Intentions: A Perspective on Human-Coexistence Robots", Sensors (MDPI) (ISSN 1424-8220), Vol.22, Issue 12, 4587 (24pages), (2022.06.17).
     DOI: 10.3390/s22124587
     https://www.mdpi.com/1424-8220/22/12/4587
• Refereed Conference and Workshop Proceedings Publications
  1. Xin He, Vibekananda Dutta, Takafumi Matsumaru: "Reproduction of Flat and Flexible Object Deformation using RGB-D Sensor and Robotic Manipulator", 2022 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2022), (05-09 Dec, 2022), [Xishuangbanna, China], pp.1257-1262, (2022.12.09.Fri).
     DOI: 10.1109/ROBIO55434.2022.10011851
     https://ieeexplore.ieee.org/document/10011851
• Refereed Tutorial Paper
  1. Takafumi Matsumaru: "Mutual Communication to Shorten the Distance between Humans and Robots -Preliminary Announcement of Robot Operation and Transmission of Robot Intention-", Journal of the Society of Instrument and Control Engineering, Vol.61, No.3, pp.203-208, (2022.03). (in Japanese)
     DOI: 10.11499/sicejl.61.203
     https://www.jstage.jst.go.jp/article/sicejl/61/3/61_203/_article/

  -   FY2021

• Books
  1. Ahmed Farid, Takafumi Matsumaru: "Pre-robotic Navigation Identification of Pedestrian Crossings and Their Orientations", in Genya Ishigami, Kazuya Yoshida (eds): "Field and Service Robotics -Results of the 12th International Conference", ISBN 978-981-15-9459-5 (Print) 978-981-15-9460-1 (Online), Springer Proceedings in Advanced Robotics (SPAR) book series, Vol.16, pp.73-84, Springer Nature (Singapore), (2021.01).
     DOI: 10.1007/978-981-15-9460-1_6
     https://link.springer.com/chapter/10.1007/978-981-15-9460-1_6
• Refereed Journal Articles
  1. Jingyu Lin, Shuqing Li, Wen Dong, Takafumi Matsumaru, Shengli Xie: "Long-Arm Three-Dimensional LiDAR for Antiocclusion and Antisparsity Point Clouds", IEEE Transactions on Instrumentation and Measurement, Vol.70, Num.4506610, (10 pages), (2021.08).
     DOI:10.1109/TIM.2021.3104019
     https://ieeexplore.ieee.org/document/9511429
  2. Xin He, Takafumi Matsumaru: "Estimation of Flat Object Deformation Using RGB-D Sensor for Robot Reproduction", Sensors (MDPI) (ISSN 1424-8220), Vol.21, Issue 1, 105 (36 pages), (2021.01).
     DOI:10.3390/s21010105
     https://www.mdpi.com/1424-8220/21/1/105
• Refereed Conference and Workshop Proceedings Publications
  1. Xiaohan Ni, Xin He, Takafumi Matsumaru: "Training a Robotic Arm Movement with Deep Reinforcement Learning", 2021 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2021), (27-31 Dec, 2021), [Sanya, China], pp.595-600, (2021.12.28.Tue).
     DOI: 10.1109/ROBIO54168.2021.9739340
     https://ieeexplore.ieee.org/document/9739340/
  2. Ruslan Damindarov, C. A. Fam, Riby Abraham Boby, M. Fahim, A. Klimchik, Takafumi Matsumaru: "A depth camera-based system to enable touch-less interaction using hand gestures", 2021 International Conference "Nonlinearity, Information and Robotics" (NIR 2021), (26-29 Aug, 2021), [Innopolis, Russia], 7 pages, (2021.08.26.Thu).
     DOI: 10.1109/NIR52917.2021.9666090
     https://ieeexplore.ieee.org/document/9666090/

  -   FY2020

• Books
  1. Ahmed Farid, Takafumi Matsumaru: "Path Planning of Sidewalks & Street Crossings in Pedestrian Environments Using 2D Map Visual Inference", in Vigen Arakelian, Philippe Wenger (eds): "ROMANSY 22 - Robot Design, Dynamics and Control", ISBN 10.1007/978-3-319-78963-7 (Hardcover) 978-3-319-78963-7 (eBook), CISM International Centre for Mechanical Sciences (Courses and Lectures), Vol. 584, Chapter 32, pp.247-255, Springer (Cham, Switzerland), (2018.06).
     DOI: 10.1007/978-3-319-78963-7_32
     https://link.springer.com/chapter/10.1007/978-3-319-78963-7_32
• Refereed Journal Articles
  1. Takafumi Matsumaru, Ami Morikawa: "An Object Model and Interaction Method for a Simulated Experience of Pottery on a Potter's Wheel", Sensors (MDPI) (ISSN 1424-8220), Vol.20, Issue 11, 3091 (23 pages), (2020.05).
     DOI:10.3390/s20113091
     https://www.mdpi.com/1424-8220/20/11/3091
• Refereed Conference and Workshop Proceedings Publications

  -   FY2019

• Books
• Refereed Journal Articles
  1. Takafumi Matsumaru, Asyifa Imanda Septiana, Kazuki Horiuchi: "Three-dimensional Aerial Image Interface, 3DAII", Journal of Robotics and Mechatronics (JRM) (Fuji Technology Press Ltd.) (ISSN: 0915-3942(Print) / 1883-8049(Online)), Vol.31, No.5, pp.657-670, (2019.10).
     DOI:10.20965/jrm.2019.p0657
     https://www.fujipress.jp/jrm/rb/robot003100050657/
  2. Ahmed Farid, Takafumi Matsumaru: "Path Planning in Outdoor Pedestrian Settings Using 2D Digital Maps", Journal of Robotics and Mechatronics (JRM) (Fuji Technology Press) (ISSN: 0915-3942(Print) / 1883-8049(Online)), Vol.31, No.3, pp.464-473, (2019.06).
     DOI:10.20965/jrm.2019.p0464
     https://www.fujipress.jp/jrm/rb/robot003100030464/
  3. Chen Zhu, Takafumi Matsumaru: "Image Processing for Picking Task of Random Ordered PET Drinking Bottles", Journal of Robotics, Networking and Artificial Life (JRNAL) (Atlantis Press) (ISSN: 2405-9021(Print) / 2352-6386 (Online)), Vol.6, Issue 1, pp.38-41, (2019.06).
     DOI:10.2991/jrnal.k.190531.008
     https://www.atlantis-press.com/journals/jrnal/125909657/
• Refereed Conference and Workshop Proceedings Publications
  1. Kaixiang Luan, Takafumi Matsumaru: "Dynamic Hand Gesture Recognition for Robot Arm Teaching based on Improved LRCN Model", 2019 IEEE International Conference on Robotics and Biomimetics (IEEE Robio 2019), (2019.12.6-8), [Dali, Yunnan, China], SP3-5, pp.1269-1274, (2019.12.07.Sat).
     DOI:10.1109/ROBIO49542.2019.8961787
     https://ieeexplore.ieee.org/document/8961787/
  2. Rajeevlochana G. Chittawadigi, Takafumi Matsumaru, Subir Kumar Saha: "Intuitive Control of Virtual Robots using Transformed Objects as Multiple Viewports", 2019 IEEE International Conference on Robotics and Biomimetics (IEEE Robio 2019), (2019.12.6-8), [Dali, Yunnan, China], FE7-3, pp.822-827, (2019.12.06.Fri).
     DOI:10.1109/ROBIO49542.2019.8961743
     https://ieeexplore.ieee.org/document/8961743/
  3. Chen Zhu, Takafumi Matsumaru: "Brand Recognition with Partial Visible Image in the Bottle Random Picking Task based on Inception V3", IEEE Ro-Man 2019 (2019 28th IEEE International Conference on Robot and Human Interactive Communication), (14-18 Oct, 2019), [Le Meridien, Windsor Place, New Delhi, India], pp.1-6 (6pages), (2019.10.16.Wed).
     DOI:10.1109/RO-MAN46459.2019.8956374
     https://ieeexplore.ieee.org/document/8956374/
  4. Ahmed Farid, Takafumi Matsumaru: "Pre-Robotic Navigation Identification of Pedestrian Crossings & Their Orientations", 12th Conference on Field and Service Robotics (FSR 2019), (August 29-31, 2019), [Tokyo, Japan], 6pages, (2019.08.29.Thu).
     http://www.srg.mech.keio.ac.jp/fsr2019/pdf/FSR_2019_paper_12.pdf

  -   FY2018

• Books
• Refereed Journal Articles
• Refereed Conference and Workshop Proceedings Publications
  1. Chen Zhu, Takafumi Matsumaru: "Image Processing for Picking Task of Random Ordered PET Drinking Bottles", The 2019 International Conference on Artificial Life and Robotics (ICAROB 2019), (January 10-13, 2019), [B-Con PLAZA, Beppu, Japan], GS2-4, pp.634-637, (2019.01.12.Sat).
     DOI:10.5954/ICAROB.2019.GS2-4
     http://alife-robotics.co.jp/LP/2019/GS2-4
  2. Kazuki Horiuchi, Takafumi Matsumaru: "Short Range Fingertip Pointing Operation Interface by Depth Camera", IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2018), (December 12-15, 2018), [Kuala Lumpur, Malaysia], Thu1-4 (4), pp.132-137, (2018.12.13.Thu).
     DOI:10.1109/ROBIO.2018.8665254
     https://ieeexplore.ieee.org/document/8665254/
  3. Haitham K. Al-Jabri, Takafumi Matsumaru: "Proposing Camera Calibration Method using PPO (Proximal Policy Optimization) for Improving Camera Pose Estimations", 2018 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2018), (December 12-15, 2018), [Kuala Lumpur, Malaysia], Thu1-8 (2), pp.790-795, (2018.12.13.Thu).
     DOI:10.1109/ROBIO.2018.8665088
     https://ieeexplore.ieee.org/document/8665088/
  4. Ahmed Farid, Takafumi Matsumaru: "Path Planning of Sidewalks & Street Crossings in Pedestrian Environments Using 2D Map Visual Inference", 22nd CISM (International Centre for Mechanical Sciences) IFToMM (International Federation for the Promotion of Mechanism and Machine Science) Symposium on Robot Design, Dynamics and Control (ROMANSY 2018) (June 25-28, 2018) [Rennes, France], (2018.07.26 Tue).
     DOI:10.1007/978-3-319-78963-7_32
     https://link.springer.com/chapter/10.1007/978-3-319-78963-7_32/

  -   FY2017

• Books
• Refereed Journal Articles
  1. Takafumi Matsumaru, Masashi Narita: "Calligraphy-Stroke Learning Support System Using Projector and Motion Sensor", Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII) (Fuji Technology Press) (ISSN: 1343-0130(Print) / 1883-8014(Online)), Vol.21, No.4, pp.697-708, (2017.07).
     DOI:10.20965/jaciii.2017.p0697
     https://www.fujipress.jp/jaciii/jc/jacii002100040697/
  2. Riby Abraham Boby, Ravi Joshi Prakash, Subir Kumar Saha, Takafumi Matsumaru, Pratyusha Sharma, Siddhartha Jaitly: "Calibration and Statistical Techniques for Building an Interactive Screen for Learning of Alphabets by Children", International Journal of Advanced Robotic Systems (IJARS) (SAGE Publishing <- InTech) (eISSN: 17298814 / ISSN: 17298814), Vol.14, Issue 3 (May-June 2017), pp.1-17, (2017.05).
     DOI:10.1177/1729881417703939
     http://journals.sagepub.com/doi/full/10.1177/1729881417703939/
  3. Zheng Chai, Takafumi Matsumaru: "ORB-SHOT SLAM: Trajectory Correction by 3D Loop Closing based on Bag of Visual Words (BoVW) Model for RGB-D Visual SLAM", Journal of Robotics and Mechatronic (JRM) (Fuji Technology Press) (ISSN: 0915-3942(Print) / 1883-8049(Online)), Vol.29, No.2, pp.365-380, (2017.04).
     DOI:10.20965/jrm.2017.p0365
     https://www.fujipress.jp/jrm/rb/robot002900020365/
• Refereed Conference and Workshop Proceedings Publications
  1. Asyifa Immanda Septiana, Mahfud Jiono, Takafumi Matsumaru: "Measuring Performance of Aerial Projection of 3D Hologram Object (3DHO)", 2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017), (December 5-8, 2017), [Macau SAR, China], FrA6(5), pp.2081-2086, (2017.12.08.Fri).
     DOI:10.1109/ROBIO.2017.8324726
     https://ieeexplore.ieee.org/document/8324726/

  -   FY2016

• Books
• Refereed Journal Articles
  1. Lixing Zhang, Takafumi Matsumaru: "Near-field Touch Interface Using Time-of-flight Camera", Journal of Robotics and Mechatronic (JRM) (Fuji Technology Press) (ISSN: 0915-3942(Print) / 1883-8049(Online)), Vol.28, No.5, pp.759-775, (2016.10).
     DOI:10.20965/jrm.2016.p0759
     https://www.fujipress.jp/jrm/rb/robot002800050759/
  2. Zheng Chai, Takafumi Matsumaru: "Feature Tracking and Synchronous Scene Generation with a Single Camera", International Journal of Image, Graphics and Signal Processing (IJIGSP) (Modern Education and Computer Science Press) (ISSN: 2074-9074(Print), ISSN: 2074-9082 (Online)), Vol.8, No 6, pp.1-12, (2016.06).
     DOI:10.5815/ijigsp.2016.06.01
     http://www.mecs-press.org/ijigsp/ijigsp-v8-n6/v8n6-1.html
• Refereed Conference and Workshop Proceedings Publications
  1. Rishabh Agarwal, Pratyusha Sharma, Subir Kumar Saha, Takafumi Matsumaru: "Touchless Human-Mobile Robot Interaction using a Projectable Interactive Surface", 2016 IEEE/SICE International Symposium on System Integration (SII 2016), (December 13-15, 2016), [Sapporo Convention Center, Sapporo, Japan], WeP1E.6, pp.723-728, (2016.12.14.Wed).
     DOI:10.1109/SII.2016.7844085
     http://ieeexplore.ieee.org/document/7844085/
  2. Mahfud Jiono, Takafumi Matsumaru: "Interactive Aerial Projection of 3D Hologram Object", IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2016), (December 3-7, 2016), [Qingdao, China], TuC05.3, pp.1930-1935, (2016.12.06.Tue).
     DOI:10.1109/ROBIO.2016.7866611
     http://ieeexplore.ieee.org/document/7866611/

  -   FY2015

• Books
• Refereed Journal Articles
  1. Jian Zhou, Takafumi Matsumar: "Contour-based Binary Image Orientation Detection by Orientation Context and Roulette Distance", IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences (Online ISSN: 1745-1337), Vol.E99-A, No.2, pp.621-633, (2016.02).
     DOI:10.1587/transfun.E99.A.621
     http://search.ieice.org/bin/summary.php?id=e99-a_2_621
• Refereed Conference and Workshop Proceedings Publications
  1. Pratyusha Sharma, Ravi Prakash Joshi, Riby Abraham Boby, Subir Kumar Saha, Takafumi Matsumaru: "Projectable Interactive Surface Using Microsoft Kinect V2: Recovering Information from Coarse Data to Detect Touch", 2015 IEEE/SICE International Symposium on System Integration (SII 2015), (December 11-13, 2015), [Meijo University, Nagoya, Japan], SuD4.3, pp.795-800, (2015.12.13 Sun).
     DOI:10.1109/SII.2015.7405081
     http://ieeexplore.ieee.org/document/7405081/
  2. Chuankai Dai, Takafumi Matsumaru: "Extraction of representative point from hand contour data based on laser range scanner for hand motion estimation", IEEE International Conference on Robotics and Biomimetics, (IEEE-ROBIO 2015), (December 6-9, 2015), [Zhuhai, China], WeA06.5, pp.2139-2144, (2015.12.09 Wed).
     DOI:10.1109/ROBIO.2015.7418787
     http://ieeexplore.ieee.org/document/7419090/
  3. Chuankai Dai, Takafumi Matsumaru: "Simulating and Displaying of Puck Motion in Virtual Air Hockey based on Projective Interface", IEEE International Conference on Robotics and Biomimetics, (IEEE-ROBIO 2015), (December 6-9, 2015), [Zhuhai, China], MoM02.6, pp.320-325, (2015.12.07 Mon).
     DOI:10.1109/ROBIO.2015.7418787
     http://ieeexplore.ieee.org/document/7418787/
  4. Masashi Narita, Takafumi Matsumaru: "Calligraphy-Stroke Learning Support System Using Projection", The 24th IEEE International Symposium on Robot and Human Interactive Communication, (RO-MAN 2015), (Aug. 31-Spt. 04, 2015), [Kobe International Conference Center, Japan], Th1D.2, pp.640-645, (2015.09.03).
     DOI:10.1109/ROMAN.2015.7333576
     http://ieeexplore.ieee.org/document/7333576/

---

---

Last updated: 28-March-2025
All rights reserved by Takafumi Matsumaru

---