arXiv subjects

Masakatsu Aoki

Publications and source records attributed to Masakatsu Aoki.

3 recordsLinked to original sources

arXiv2026

Real-Time LiDAR Point Cloud Densification for Low-Latency Spatial Data Transmission

To realize low-latency spatial transmission system for immersive telepresence, there are two major problems: capturing dynamic 3D scene densely and processing them in real time. LiDAR sensors capture 3D in real time, but produce sparce point clouds. Therefore, this paper presents a high-speed LiDAR point cloud densification method to generate dense 3D scene with minimal latency, addressing the need for on-the-fly depth completion while maintaining real-time performance. Our approach combines multiple LiDAR inputs with high-resolution color images and applies a joint bilateral filtering strategy implemented through a convolutional neural network architecture. Experiments demonstrate that the proposed method produces dense depth maps at full HD resolution in real time (30 fps), which is over 15x faster than a recent training-based depth completion approach. The resulting dense point clouds exhibit accurate geometry without multiview inconsistencies or ghosting artifacts.

cs.CV↗

arXiv2025

The Stage Comes to You: A Real-Time Tele-Immersive System with 3D Point Clouds and Vibrotactile Feedback

We present a low-latency tele-immersive entertainment system that streams 3D point clouds and performers' footstep vibrations, creating the sense that the stage is present. Moving performers and their surroundings are captured as dynamic point clouds under rapidly changing lighting, then processed, transmitted, and rendered within a total latency of less than 100 ms. Under high ambient noise, footstep vibrations are sensed by wearable accelerometers. Real-time visual and haptic streams are delivered to a remote venue, where a large 3D LED wall and a vibration-efficient haptic floor envelop dozens of spectators. A public trial at Expo 2025 linked sites 20 km apart: visitors watched a live dance show and conversed with performers without noticeable delay.

cs.ET↗

arXiv2025

A Low-Latency 3D Live Remote Visualization System for Tourist Sites Integrating Dynamic and Pre-captured Static Point Clouds

Various real-time methods for capturing and transmitting dynamic 3D spaces have been proposed, including those based on RGB-D cameras and volumetric capture. However, applying existing methods to outdoor tourist sites remains difficult because maintenance and aesthetic constraints limit sensor placement, and daylight variability complicates processing. We propose a system that combines multiple LiDARs and cameras for live dynamic point cloud capture, and integrates them with pre-captured static point clouds for wide-area 3D visualization. The system sustains 30 fps across wide-area scenes while keeping latency below 100 ms. To mitigate lighting inconsistencies, static point-cloud colors are automatically adjusted to current lighting. The effectiveness of our system is demonstrated through real-world deployment in a tourist site.

cs.MM↗