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Research of the High-Speed Fusion of Disparity Images from Two Orthogonal Stereo Pairs

Research Project

Project/Area Number 11450104
Research Category

Grant-in-Aid for Scientific Research (B).

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionOKAYAMA UNIVERSITY

Principal Investigator

TANAKA Yutaka  OKAYAMA Univ., Division of Manufacturing System and Physical Science, Department of Intelligent Mechanical System, Professor, 大学院・自然科学研究科, 教授 (80032944)

Co-Investigator(Kenkyū-buntansha) NAGAI Isaku  OKAYAMA Univ., Dep. of Systems Eng., Research Associate, 工学部, 助手 (80294437)
NAGATANI Keiji  OKAYAMA Univ., Division of Manufacturing System and Physical Science, Department of Intelligent Mechanical System, Lecturer, 大学院・自然科学研究科, 講師 (80314649)
GOFUKU Akio  OKAYAMA Univ., Dep. of Systems Eng., Professor, 工学部, 教授 (20170475)
Project Period (FY) 1999 – 2000
Project Status Completed (Fiscal Year 2000)
Budget Amount *help
¥6,000,000 (Direct Cost: ¥6,000,000)
Fiscal Year 2000: ¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1999: ¥4,000,000 (Direct Cost: ¥4,000,000)
KeywordsMechatronics / Visual Instruments / Stereo Cameras / Antonomous Running Vehicle / Real-Time Measurement / Palallax Image / Recognition of Self-Position / Camera Swinging Mechanism
Research Abstract

The results obtained in this research are summarized as follows :
(1) By taking the photography of the image reflected from a nose placed beside a camera simultaneously with an object image, the image can be obtained that is not affected by the illuminance and color of a light source. The surface of the reference nose is designed such that it can reflect the blurred image of the object, and the small image part beside the main image is utilized to the correction of all pixels corresponding the ones in the main image. The mapping is influenced slightly by the image depth but the influence can be reduced by placing the reference nose nearer to the lens position.
(2) This study allowed to obtain the depth to every point of the planar surface using stereo camera method, and showed that measurement of the depth also to the curvilinear surface became feasible by painting the vertical color stripes on the surface.
(3) The detection of the color boundary lines nearly parallel to video scanning lines is difficult by using the method of detecting the characteristic points along also those lines. A video-rate range finder has been developed to measure the depth to the color boundary lines at any angles including parallel boundary lines. This finder employs a pair of stereo cameras and each stereo axis connecting a pair of cameras is then set at right angle to each other, the one is placed horizontally and the other vertically against the floor. All the signal processing is carried out by electronic circuits, thus enabling the video-rate measurement of the distances to color marks without loading a control computer installed in an autonomous running vehicle.
(4) Performances such as the correct and the acquisition ratios in depth measurements have been increased by combining the depth data obtained by the pair cameras. This study established the ground of the measurement and the configuration of the devices, and showed that this method is effective in the depth measurement.

Report

(3 results)
  • 2000 Annual Research Report   Final Research Report Summary
  • 1999 Annual Research Report
  • Research Products

    (33 results)

All Other

All Publications (33 results)

  • [Publications] M.Abdellatif,Y.Tanaka,A.Gofuku,I.Nagai: "Color Constancy Using the Inter-Reflection from a Reference Nose"The International Journal of Computer Vision. 39-1. 171-194 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Akio Gofuku,Yutaka Tanaka,Junji Tsuboi: "Development of a Flexible Artificial Hand System Equipped with a Slip Sensor"JSME International Journal. 43-2. 378-396 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Yutaka Tanaka and Akio Gofuku: "Fundamental Study of Fluid Transfer using Electro-Rheological Effect "Congress on Industrial Electronics, Control and Instrumentation IECON-2000. 1828-1832 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Keiji Nagatani and Yutaka Tanaka: "Motion Design for Autonomous Mobile Manipulator Based on Programming Style "Action Primitive""Congress on Industrial Electronics, Control and Instrumentation IECON-2000. 399-403 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Akio Gofuku and Yutaka Tanaka: "Selection of Plausible Counter Actions Derived from a Functional Model By Operational and Behavioral Knowledge"Int.Conference on Cognitive Systems Engineering in Process Control. (CD-ROM). (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Keiji Nagatani,Satoshi Tachibana,Makoto Sofue,Yutak Tanaka: "Improvement of Odometry for Omnidirectional Vehicle using Optical Flow Information,"Proc.of IEEE/RSJ Int.Conference on Intelligent Robots and Systems. (CD-ROM). 468-473 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Yutak Tanaka,Akio Gofuku,Isaku Nagai,Shigeharu Miyta: "Development of a Real-Time Range Finder Interpolating the Parallax Signals for Surfaces"International Journal of Mechatronics. (掲載予定).

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Akio Gofuku, Yuji Seki, Yutaka Tanaka: "Support of Conceptual Design of Engineering Systems Applying Functional Modeling, 2nd Report, Support Technique of Component Assignment to Functions by Effectively Using Fast Cases"Trans.JSME Series-C. Vol.65, No.632. 1544-1549 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Akio Gofuku, Yutaka Tanaka, Junji Seki: "Development of a Flexible Artificial Hand System Equipped with a Slip Sensor"Trans.JSME, Series-C. Vol.65, No.633. 1907-1914 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] "Development of a Real-Time Range Finder for Measuring the Depth to a Plane without Textures"Trans.JSME., Series-C. Vol.65, No.636. 3234-3238 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Yutaka Tanaka, Akio Gofuku, Nobuo Takeda, Isaku Nagai: "Development of a Video-Rate Range Finder Using Dynamic Threshold Method for Characteristic Point Detection"Proc. of the 1999 IEEE/ASME Int.Conf. on Advanced Intelligence Mechatronics. 932-937 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Akio Gofuku, Yutaka Tanaka, Junji Tsuboi: "Development of a Flexible Artificial Hand System Equipped with a Slip Sensor"JSME International Journal. Vol.43, No.2. 378-386 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Mohamed Abdellatif, Yutaka Tanaka, Akio Gofuku, Isaku Nagai: "Color Constancy Using the Inter-Reflection from a Reference Nose"The International Journal of Computer Vision. Volume 39, Issue 3. 171-194 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Yutaka Tanaka and Akio Gofuku: "Fundamental Study of Fluid Transfer using Electro-Rheological Effect"Proc. of IEEE Internat. Congress on Industrial Electronics, Control and Instrumentation IECON-2000. 1828-1832 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Keiji Nagatani and Yutaka Tanaka: "Motion Design for Autonomous Mobile Manipulator Based on Programming Style "Action Primitive"Proc. of IEEE Internat. Congress on Industrial Electronics, Control and Instrumentation IECON-2000. 399-403 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Akio Gofuku and Yutaka Tanaka: "Selection of Plausible Counter Actions Derived from a Functional Model By Operational and Behavioral Knowledge"Int. Conference on Cognitive Systems Engineering in Process Control. (CD-ROM). (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Keiji Nagatani, Satoshi Tachibana, Makoto Sofue, Yutaka Tanaka: "Improvement of Odometry for Omnidirectional Vehicle using Optical Flow Information"Proc. of IEEE/RSJ Int. Conference on Intelligent Robots and Systems. 468-473 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Yutaka Tanaka, Akio Gofuku, Isaku Nagai and Shigeharu Miyata: "Development of a Real-Time Rangem Finder Interpolating the Parallax Signals for Surfaces"International Journal of Mechatronics. (accepted for publication).

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] Yutaka Tanaka, Akio Gofuku: "Fundamental Study of an ERF Pump"International Journal of Mechatronics. (accepted for publication).

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2000 Final Research Report Summary
  • [Publications] M.Abdellatif,Y.Tanaka,A.Gofuku,I.Nagai: "Color Constancy Using the Inter-Reflection from a Reference Nose"The International Journal of Computer Vision. 39-1. 171-194 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Akio Gofuku,Yutaka Tanaka,Junji Tsuboi: "Development of a Flexible Artificial Hand System Equipped with a Slip Sensor"JSME International Journal. 43-2. 378-396 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Yutaka Tanaka and Akio Gofuku: "Fundamental Study of Fluid Transfer using Electro-Rheological Effect"Congress on Industrial Electronics, Control and Instrumentation IECON-2000. 1828-1832 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Keiji Nagatani and Yutaka Tanaka: "Motion Design for Autonomous Mobile Manipulator Based on Programming Style "Action Primitive"Congress on Industrial Electronics, Control and Instrumentation IECON-2000. 399-403 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Akio Gofuku and Yutaka Tanaka: "Selection of Plausible Counter Actions Derived from a Fundamental Model By Operational and Behavioral Knowledge"Int.Conference on Cognitive Systems Engineering in Process Control. (CD ROM). (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Keiji Nagatani,Satoshi Tachibana,Makoto Sofue,Yutak Tanaka: "Improvement of Odometry for Omnidirectional Vehicle using Optical Flow Information,"Proc.of IEEE/RSJ Int.Conference on Intelligent Robots and Systems. (CD ROM). 468-473 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Yutak Tanaka,Akio Gofuku,Isaku Nagai,Shigeharu Miyta: "Development of a Real-Time Range Finder Interpolating the Parallax Signals for Surfaces"International Journal of Mechatronics. (掲載予定).

    • Related Report
      2000 Annual Research Report
  • [Publications] 田中 豊,永井伊作,五福明夫: "模様のない平面の実時間距離取得装置の開発"日本機械学会論文集C編. 65・636. 3234-3238 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] Tanaka Y., Gofuku A.,Nagai I.: "Development of a Video-Rate Range Finder Using Dynamic Threshold Method for Characteristic Point Detection"Proc. of the 1999 IEEE/ASME Int. Conf. on Advanced Intelligence Mechatronics. 932-937 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 田中 豊,五福明夫,永井伊作,高橋輝年: "色と輝度の判別能力を備えた距離取得装置の開発"日本機械学会ロボティクスメカトロニクス講演会'99講演論文集. (CD-ROM). (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 田中 豊,永井伊作,五福明夫: "補間機能を持つ距離取得装置を用いた立体形状実時間計測"日本機械学会ロボティクスメカトロニクス講演会'99講演論文集. (CD-ROM). (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 田中 豊,永井伊作,五福明夫,川田恵寛,永谷圭司: "ステレオカメラを用いた自律走行車の自己位置認識と操舵に関する研究"日本機械学会ロボティクスメカトロニクス講演会'99講演論文集. (CD-ROM). (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 田中 豊,永井伊作,五福明夫: "床面模様の画像追跡によるビジュアル・デッドレコニングの研究"日本機械学会中国四国支部第38期総会・講演会講演論文集. 3/7(発表予定). (2000)

    • Related Report
      1999 Annual Research Report
  • [Publications] 田中 豊,五福明夫,永井伊作,清力義治: "自律走行車のための高速視覚情報融合システムの開発"日本機械学会中国四国支部第38期総会・講演会講演論文集. 3/7(発表予定). (2000)

    • Related Report
      1999 Annual Research Report

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Published: 1999-04-01   Modified: 2016-04-21  

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