An Active Method of 3-D Distance Measurement Using An Analysis Map

概要

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We propose an active way of 3-D distance measurement for scene perception. A real-world environment is composed of various kinds of objects. The most adequate parameters of a measurement system may be different according to the purposes of measurement and the characteristics of objects. It needs to adjust the system parameters such as camera position, pan and tilt angles, focal length, zoom and so on. Firstly, we perform 3-D distance measurement of the whole scene by parallel stereo vision. Next, we perform scene analysis by considering two kinds of data, i.e., depth and texture, to plan a purpose-oriented measurement strategy. Some regions are selected for targets and then their positions are estimated from the measurement results of the whole scene. After adjusting the camera parameters to a target region, a fine measurement is performed again.
一般社団法人情報処理学会の論文
2006-11-09