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Outdoor World Modeling by Intelligent Integration of Multi-Visual Information

Research Project

Project/Area Number 03805029
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 情報工学
Research InstitutionOsaka University

Principal Investigator

ASADA Minoru  Osaka University, Mech. Engg. for Associate Professor Computer-Controlled Machinery, 工学部, 助教授 (60151031)

Co-Investigator(Kenkyū-buntansha) MIURA Jun  Osaka University, Mech. Engg. for Research Associate Computer-Controlled Machine, 工学部, 助手 (90219585)
SHIRAI Yoshiaki  Osaka University, Mech. Engg. for Professor Computer-Controlled Machinery, 工学部, 教授 (50206273)
Project Period (FY) 1991 – 1992
Project Status Completed (Fiscal Year 1992)
Budget Amount *help
¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 1992: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1991: ¥1,000,000 (Direct Cost: ¥1,000,000)
KeywordsIntensity image / Range image / Color image / Stereo images / Sensor fusion / Outdoor scene / Geometric modeling / Reliability / 明度画像, / 距離画像, / カラー画像, / ステレオ画像, / センサ統合, / 屋外シーン, / 幾何モデリング, / カラ-画像 / 屋外シ-ン
Research Abstract

In this project, we proposed a method of scene interpretation which dynamically integrates multi-visual sensory data such as intensity and range images into the scene descriptions according to the intermediate results of the sensory data processings that are obtained by using the knowledge of objects in the scene and the properties of the individual sensory data. In the first year, we found that geometric modeling of one object class by using multi-visual information was useful for extraction of the objects in this class and for reasoning of spatial relationships between objects in the scene. This year, we extended our method so that it could be applicable to various kindsof object classes. That is, we developed a model-driven spatial reasoning system which extracted various kinds of objects from the background and determined the geometric structures of these objects and unexplored regions as well. Research results are as follows:
(1) In the case of stereo-color images, the range data obtained from a feature based stereo matching method are sparse, therefore they are not sufficient for segmentation of the scene. Then, we utilized the result of region segmentation by using the color information which was useful to recover the scene structure in terms of planar patches extracted in the disparity space. As a result, the scene structure was roughly recovered, but more accurate range information is needed to determine the details of the scene structure.
(2) In the case of a pair of dense range data and an intensity image, we determined the parameters of the parametric model from the uncertainties of planar patches estimated from the range data. It has been shown that the uncertainty depends on two kinds of error sources: probable and systematic errors. We revealed their relationships and applied it to the problem of object recognition.

Report

(3 results)
  • 1992 Annual Research Report   Final Research Report Summary
  • 1991 Annual Research Report
  • Research Products

    (16 results)

All Other

All Publications (16 results)

  • [Publications] M.ASADA,M.KIMURA,Y.TANUGIUCHI and Y.SHIRAI,: "″DYyanmic integration of height maps into a 3-D world representation from range image sequences,″" Int.Journal of Computer Vision,. 9. 31-53 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Y.TANIGUCHI,M.ASADA,and Y.SHIRAI,: "″Sene segmemtation on based on obiect model using multi-sensory information,″" Proc.of IEEE/RSJ Int.Conf.on Intellegent Robots and Systems,. 1214-1222 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] A.OKAMOTO,Y.SHIRAI,and M.ASADA,: "″Integration of color and range data for 3-D scene description,″" Proc.of IMACS/SICE Int.Synposium on Robotics,Mechatronics,and Manufacturing Systems ′92,. 1065-1070 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 谷口,浅田,白井,: "「距離データの量子化の影響を考慮に入れた平面の不確実性に関する考察」," 電子情報通 信学会パターン認織と理解研究会,.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] M. Asada, M. Kimura, Yasuhiro Taniguchi and Y. Shirai: "Dynamic integration of height maps into a 3-D world representation from range image sequences" Int. Journal of Computer Vision. 9:1. 31-53 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Y. Taniguchi, M. Asada, and Y. Shirai: "Scene segmentation on based on object model using multi-sensory information" Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. 1214-1222 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] A. Okamoto, Y. Shirai, and M. Asada: "Integration of color and range data for 3-D scene description" Proc. of IMACS/SICE Int. Symposium on Robotics, Mechatronics, and Manufacturing Systems '92. 1065-1070 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Y. Taniguchi, M. Asada, and Y. Shirai: "A Study on The Uncertainty of Planar Patches Based on Quantization Errors of Range Data" IEICE, Proc. of SIG-PRU.

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] M.Asada,M.Kimura,Y.Taniguchi and Y.Shirai,: "“Dyanmic integration of height maps into a 3-D world representation from range image sequences,"" Int.Journal of Computer Vision,. 9. 31-53 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] Y.Taniguchi,M.Asada,and Y.Shirai,: "“Scene segmentation on based on object model using multisensory information,"" Proc.of IEEE/RSJ Int.Conf.on Intellegent Robots and Systems,. 1214-1222 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] A.Okamoto,Y.Shirai,and M.Asada,: "“Integration of color and range data for 3-D scene description,"" Proc.of IMACS/SICE Int.Synposium on Robotics,Mechatronics,and Manufacturing Systems'92,. 1065-1070 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 谷口,浅田,白井,: "「距離データの量子化の影響を考慮に入れた平面の不確実性に関する考察」," 電子情報通信学会パターン認識と理解研究会,. (1993)

    • Related Report
      1992 Annual Research Report
  • [Publications] M.Asada: "“Geometric Reasoning for World Model Representation Based on Planar Patch with Uncertainty from Video and Range Images"" Proc.of IEEE Int.Conf.on Robotics and Automation. 1742-1747 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] K.Kadono: "“ContextーConstrained matching of hierarchical CADーbased models for outdoor scene interpretation"" Proc.of IEEE Workshop on Directions in Automated CADーBased Vision. 186-195 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] Y.Taniguchi: "“World model representation based on planar patch from video and range images"" Proc.of IEEE/RSJ Int.Workshop on Intelligent Rrobots and systems '91. 409-414 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] Y.Taniguchi: "“Scene segmentation based on object model using multiーsensory information"" Proc.of IEEE/RSJ Int.Workshop on Intelligent Rrobots and Systems '92. (1992)

    • Related Report
      1991 Annual Research Report

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Published: 1991-04-01   Modified: 2016-04-21  

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