Basic research on task-oriented omnidirectional image sensor

面向任务的全向图像传感器基础研究

• 批准号: 14350219
• 负责人: YAGI Yasushi
• 金额: $ 8.64万
• 依托单位: Osaka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2004
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-14350219/
• 关键词: Computer vision; Omnidirectional vision; mobile robot; Resolution distribution; Non-isotropic; Active contour; Visual navigation; センサ

Conventional T.V. cameras are limited in their field of view. A real-time omnidirectional camera which can acquire an omnidirectional (360 degrees) field of view at video rate and which could be applied in a variety of fields, such as autonomous navigation, tele-presence, virtual reality and remote monitoring, is presented.We have developed three different types of omnidirectional image sensors, and compounded omnidirectional vision system which consist of multiple convex mirrors and a single CCD camera. In this project, we developed several omnidirectional cameras and image processing techniques for these camerasResults are as followNon-isotropic Omnidirectional Imaging System for an Autonomous Mobile RobotIconic Memory-Based Omnidirectional Route Panorama NavigationStereo Vision with a Single Camera and Multiple MirrorsCompound Catadioptric Stereo Sensor for Omnidirectional Object DetectionRolling and Swaying Motion Estimation for Mobile Robot by using Omnidirectional Optical FlowsGait Volume : Spatio-Temporal Analysis of Walking

传统电视摄像机的视野有限。提出了一种实时全向摄像机，能够以视频速率获取全向（360度）视场，可应用于自主导航、远程呈现、虚拟现实和远程监控等多种领域。我们开发了三种不同类型的全向图像传感器，以及由多个凸面镜和单个CCD相机组成的复合全向视觉系统。在这个项目中，我们开发了几种全向相机和这些相机的图像处理技术，结果如下：用于自主移动机器人的非各向同性全向成像系统基于标志性记忆的全向路线全景导航单相机和多个镜子的立体视觉用于全向物体的复合反射折射立体传感器使用全向光流检测移动机器人的滚动和摇摆运动估计Gait Volume：步行的时空分析

项目成果

Real-Time Omnidirectional Image Sensors

• DOI: 10.1023/b:visi.0000019684.35147.fc
• 发表时间: 1995-04
• 期刊: International Journal of Computer Vision
• 影响因子: 19.5
• 作者: Y. Yagi;M. Yachida

Evaluation of Iconic Memory-based ORP Navigation.

基于标志性记忆的 ORP 导航的评估。

• 发表时间: 2004
• 期刊: In Proc.of the 2004 IEEE International Conference on Robotics & Automation
• 作者: Yasushi Yagi;Kentaro Tsuji;Masahiko Yachida
• 通讯作者: Masahiko Yachida

Rear-time Omnidirectional Image Sensors

后置全向图像传感器

• 发表时间: 2004
• 期刊: International Journal of Computer Vision vol.58, no.3
• 作者: Yasushi Yagi;Masahiko Yachida
• 通讯作者: Masahiko Yachida

Y.Yagi, K.Imai, M.Yachida: "Iconic Memory-based Omnidirectional Route Panorama Navigation"Proc.IEEE International Conf.on Robotics and Automation. 564-570 (2003)

Y.Yagi、K.Imai、M.Yachida：“基于标志性记忆的全向路线全景导航”Proc.IEEE 国际机器人与自动化会议。

Iconic Memory-Based Omnidirectional Route Panorama Navigation

标志性基于记忆的全向路线全景导航

• 发表时间: 2005
• 期刊: IEEE Transactions on Pattern Analysis and Machine Intelligence 27
• 作者: Y.Yagi;K.Imai;K.Tsuji;M.Yachida
• 通讯作者: M.Yachida