Panoramic 3D reconstruction by fusing color intensity and laser range data (特集 実利用マシンビジョン技術)
スポンサーリンク
概要
- 論文の詳細を見る
Technology for capturing panoramic (360 degrees) three-dimensional information in a real environment have many applications in fields: virtual and complex reality, security, robot navigation, and so forth. In this study, we examine an acquisition device constructed of a regular CCD camera and a 2D laser range scanner, along with a technique for panoramic 3D reconstruction using a data fusion algorithm based on an energy minimization framework. The acquisition device can capture two types of data of a panoramic scene without occlusion between two sensors: a dense spatio-temporal volume from a camera and distance information from a laser scanner. We resample the dense spatio-temporal volume for generating a dense multi-perspective panorama that has equal spatial resolution to that of the original images acquired using a regular camera, and also estimate a dense panoramic depth-map corresponding to the generated reference panorama by extracting trajectories from the dense spatio-temporal volume with a selecting camera. Moreover, for determining distance information robustly, we propose a data fusion algorithm that is embedded into an energy minimization framework that incorporates active depth measurements using a 2D laser range scanner and passive geometry reconstruction from an image sequence obtained using the CCD camera. Thereby, measurement precision and robustness can be improved beyond those available by conventional methods using either passive geometry reconstruction (stereo vision) or a laser range scanner. Experimental results using both synthetic and actual images show that our approach can produce high-quality panoramas and perform accurate 3D reconstruction in a panoramic environment.
- 社団法人 電気学会の論文
著者
-
Lu Jian
National Institute Of Advanced Industrial Science And Technology (aist)
-
Jiang Wei
Intelligent Systems Research, National Institute of Advanced Industrial Science and Technology (AIST
-
Lu Jian
National Institute of Occupational Safety and Health
-
Jiang Wei
Intelligent Systems Research, National Institute of Advanced Industrial Science and Technology (AIST)
関連論文
- Inductively Coupled Plasma Reactive Ion Etching of Lead Zirconate Titanate Thin Films for MEMS Application
- Hydrogen Permeation of Thin Pd-25Ag Membranes Prepared by Cold Rolling and Microsystem Technology
- High-k dielectrics for application in broadband radio frequency-microelectromechanical system capacitive shunt switch (特集 強誘電体のセンサ・マイクロマシン応用)
- High quality factor silicon cantilever transduced by piezoelectric lead zirconate titanate film for mass sensing applications
- Characterization and Permeation of Microfabricated Palladium Membrane
- Energy Dissipation Mechanisms in Lead Zirconate Titanate Thin Film Transduced Micro Cantilevers
- Panoramic 3D reconstruction by fusing color intensity and laser range data (特集 実利用マシンビジョン技術)
- Sensitivity of Micro Cantilever Mass Sensor Transduced by PZT Film
- High performance liquid chromatography assay with ultraviolet detection for moxifloxacin : Validation and application to a pharmacokinetic study in Chinese volunteers
- On reducing the risk for the gesture recognition used in action control for mobile robots
- On reducing the risk for the gesture recognition used in action control for mobile robots
- Fresnel Lens Solar Concentrator Design and Spectral Distribution on Focus Surface
- High-efficient Chip to Wafer Self-alignment and Bonding for Flexible and Size-free MEMS-IC Integration
- O09-2 Effect of cooling goods on thermo-physiological and cardiovascular responses in humans during heat exposure
- P2-2 Effects of the cooling goods on the psychomotor vigilance task and the balance of the body water during heat exposure