Wearable Omnidirectional Stereo Surveillance System

• Project/Area Number: 17100002
• Research Category: Grant-in-Aid for Scientific Research (S)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Osaka University
• Principal Investigator: YAGI Yasushi 阪大, 産業科学研究所, 教授 (60231643)
• Co-Investigator(Kenkyū-buntansha): MUKAIGAWA Yasuhiro 大阪大学, 産業科学研究所, 准教授 (60294435) ; SAGAWA Ryusuke 大阪大学, 産業科学研究所, 助教 (30362627) ; MAKIHARA Yasushi 大阪大学, 産業科学研究所, 助教 (90403005)
• Project Period (FY): 2005 – 2008
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥99,450,000 (Direct Cost: ¥76,500,000、Indirect Cost: ¥22,950,000); Fiscal Year 2009: ¥8,840,000 (Direct Cost: ¥6,800,000、Indirect Cost: ¥2,040,000); Fiscal Year 2008: ¥26,390,000 (Direct Cost: ¥20,300,000、Indirect Cost: ¥6,090,000); Fiscal Year 2007: ¥25,610,000 (Direct Cost: ¥19,700,000、Indirect Cost: ¥5,910,000); Fiscal Year 2006: ¥28,210,000 (Direct Cost: ¥21,700,000、Indirect Cost: ¥6,510,000); Fiscal Year 2005: ¥10,400,000 (Direct Cost: ¥8,000,000、Indirect Cost: ¥2,400,000)
• Keywords: コンピュータビジョン / センシングデバイス・システム / パターン認識 / 画像情報処理 / 安心・安全 / 全方位ビジョン / ステレオ / 反射屈折光学系

Research Abstract

本研究では,各種防犯グッズのように,各人が身に着けるタイプのパーソナル監視技術を提案する.本技術は,全方位監視カメラにより,装着者の周囲360度をシームレスに観察し,予め登録された不審者(ストーカー等)を素早く発見,身に迫る危険を装着者に知らせることができる.研究期間内に,軽量な全方位カメラを設計,試作すると共に,接近物体を発見する技術や人の歩き方から個人を認証する技術等の構築を行った.

Research Products

• [Journal Article] Highly Robust Estimator Using a Casedependent Residual Distribution Model (2009)
  • Author(s): Ngo Trung Thanh, Hajime Nagahara, Ryusuke Sagawa, Yasuhiro Mukaigawa, Masahiko Yachida, Yasushi Yagi
  • Journal Title: IPSJ Transactions on Computer Vision and Applications vol.1 Pages: 260276-260276
  • NAID: 130000251477
  • Peer Reviewed
• [Journal Article] 歩容における性別・年齢の分類と特徴解析 (2009)
  • Author(s): 万波秀年, 槇原靖, 八木康史
  • Journal Title: 電子情報通信学会論文誌D vol.J92-D,no.8 Pages: 1373-1382
  • NAID: 110007361084
  • Peer Reviewed
• [Journal Article] 平行光ペアの観測による反射屈折光学撮像系における鏡の位置姿勢推定 (2009)
  • Author(s): 青木伸也, 佐川立昌, 八木康史
  • Journal Title: 電子情報通信学会論文誌D vol.J92-D,no.5 Pages: 661-670
  • NAID: 110007381191
  • Peer Reviewed
• [Journal Article] Gait Identification Considering Body Tilt by Walking Direction Changes (2009)
  • Author(s): Y. Makihara, R. Sagawa, Y. Mukaigawa, T. Echigo, Y. Yagi
  • Journal Title: lectronic Letters on Computer Vision and Image Analysis vol.8,no.1 Pages: 15-26
  • Peer Reviewed
• [Journal Article] 私の研究開発ツール歩容データベース (2009)
  • Author(s): 槇原靖
  • Journal Title: 映像情報メディア学会誌 vol.63,no.1 Pages: 55-58
  • Peer Reviewed
• [Journal Article] 全方位カメラを用いた複数方向の観測による歩容認証 (2008)
  • Author(s): 杉浦一成, 槇原靖, 八木康史
  • Journal Title: 情報処理学会論文誌コンピュータビジョンとイメージメディア vol.49,no.2 Pages: 76-85
  • NAID: 110006345179
  • Peer Reviewed
• [Journal Article] 2つの平行光の観測による内部カメラパラメータの高精度なキャリブレーション (2008)
  • Author(s): 佐川立昌, 八木康史
  • Journal Title: 情報処理学会論文誌コンピュータビジョンとイメージメディア vol.49,no.SIG6 Pages: 89-100
  • NAID: 110006684643
  • Peer Reviewed
• [Journal Article] Integrating Color and Shape-texture Features for Adaptive Real-time Tracking (2008)
  • Author(s): Junqiu Wang, Yasushi Yagi
  • Journal Title: IEEE Trans. on Image Processing vol.17,no.2 Pages: 235-240
  • Peer Reviewed
• [Journal Article] Integrating Color and Shape-texture Features for Adaptive Real-time Tracking (2008)
  • Author(s): Junqiu Wang
  • Journal Title: IEEE Trans. On Image Processing Vol.17, No.2 Pages: 235-240
  • Peer Reviewed
• [Journal Article] 平行光を用いた反射屈折撮像系におけるミラーの位置姿勢校正 (2007)
  • Author(s): 青木伸也, 佐川立昌, 向川康博, 越後富夫, 八木康史
  • Journal Title: 情報処理学会論文誌コンピュータビジョンとイメージメディア vol.49,no.SIG9 Pages: 115-123
  • NAID: 110004079513
  • Peer Reviewed
• [Journal Article] 周波数領域における方向変換モデルを用いた歩容認証 (2007)
  • Author(s): 槇原靖, 佐川立昌, 向川康博, 越後富夫, 八木康史
  • Journal Title: 情報処理学会論文誌コンピュータビジョンとイメージメディア Vol.48,No.SIG1 Pages: 78-87
  • NAID: 110004079525
  • Peer Reviewed
• [Journal Article] 平行光を用いた反射屈折撮像系におけるミラーの位置姿勢校正 (2007)
  • Author(s): 青木 伸也
  • Journal Title: 情報処理学会論文誌コンピュータビジョンとイメージメディア Vol.49, no.SIG9(CVIM18) Pages: 115-123
  • Peer Reviewed
• [Journal Article] 周波数領域における方向変換モデルを用いた歩容認証 (2007)
  • Author(s): 槇原 靖, 佐川 立昌, 向川 康博, 越後 富夫, 八木 康史
  • Journal Title: 情報処理学会論文誌 コンピュータビジョンとイメージメディア vol. 48, no. SIG1(CVIM 17) Pages: 78-87
  • NAID: 110004079525
• [Journal Article] 平行光を用いた反射屈折撮像系におけるミラーの位置姿勢校正 (2007)
  • Author(s): 青木伸也, 槇原 靖, 佐川立昌, 向川康博, 越後富夫, 八木康史
  • Journal Title: 情報処理学会論文誌 コンピユータビジョンとイメージメディア (In press)
  • NAID: 110004079513
• [Journal Article] Mirror Localization for Catadioptric Imaging System by Projecting Parallel Lights (2007)
  • Author(s): Ryusuke Sagawa, Nobuya Aoki, Yasuhiro Mukaigawa, Tomio Echigo, Yasushi Yagi
  • Journal Title: Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA2007) (In press)
• [Journal Article] Robust and Real-Time Rotation Estimation of Compound Omnidirection al Sensor (2007)
  • Author(s): Trung Ngo Thanh, Hajime Nagahara, Ryusuke Sagawa, Yasuhiro Mukaigawa, Masahiko Yachida, Yasushi Yagi
  • Journal Title: Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA2007) (In press)
• [Journal Article] 複眼全方位センサの提案 (2006)
  • Author(s): 小嶋裕一郎, 栗田尚樹, 佐川立昌, 越後富夫, 八木康史
  • Journal Title: 情報処理学会論文誌コンピュータビジョンとイメージメディア vol.47,no.SIG10 Pages: 152-161
  • NAID: 110006391051
  • Peer Reviewed
• [Journal Article] Gait Recognition Using a View Transformation Model in the Frequency Domain (2006)
  • Author(s): Yasushi Makihara, Ryusuke Sagawa, Yasuhiro Mukaigawa, Tomio Echigo, Yasushi Yagi
  • Journal Title: In Proc. of the 9th European Conf. on Computer Vision vol.3 Pages: 151-163
• [Journal Article] Which Reference View is Effective for Gait Identification Using a View Transformation Model? (2006)
  • Author(s): Yasushi Makihara, Ryusuke Sagawa, Yasuhiro Mukaigawa, Tomio Echigo, Yasushi Yagi
  • Journal Title: In Proc. of the IEEE Computer Society Workshop on Biometrics 2006
• [Journal Article] 複眼全方位センサの提案 (2006)
  • Author(s): 小嶋 裕一郎, 栗田 尚樹, 佐川 立昌, 越後 富夫, 八木 康史
  • Journal Title: 情報処理学会論文誌 コンピュータビジョンとイメージメディア vol. 47, no. SIG10 (CVI M15) Pages: 152-161
  • NAID: 110006391051
• [Journal Article] Adaptation to Walking Direction Changes for Gait Identification (2006)
  • Author(s): Yasushi Makihara, Ryusuke Sagawa, Yasuhiro Mukaigawa, Tomio Echigo, Yasushi Yagi
  • Journal Title: In Proc. of the IAPR 18th Int. Conf. on Pattern Recognition vol. 2 Pages: 96-99
• [Journal Article] Integrating Shape and Color Features for Adaptive Real-time Object Tracking (2006)
  • Author(s): J.Wang, Y.Yagi
  • Journal Title: In Proc. of The 2006 IEEE International Conference on Robotics and Biomimetics
• [Journal Article] Two or more mirrors for the omnidirectional stereovision (2006)
  • Author(s): E.Mouaddib, R.Sagawa, T.Echigo, Y.Yagi
  • Journal Title: Proc.of The second IEEE-EURASIP International Symposium on Control, Communications, and Signal Processing (In press)
• [Journal Article] Stereo Vision with a Single Camera and Multiple Mirrors (2005)
  • Author(s): E.Mouaddib, R.Sagawa, T.Echigo, Y.Yagi
  • Journal Title: Proc.IEEE International Conference on Robotics and Automation Pages: 812-817
• [Journal Article] 全方位ビジョン (2005)
  • Author(s): 八木康史
  • Journal Title: 日本ロボット学会誌 23巻3号 Pages: 26-29
  • NAID: 110002726126
• [Journal Article] Calibration of Lens Distortion by Structured-Light Scanning (2005)
  • Author(s): Ryusuke Sagawa, Masaya Takatsuji, Tomio Echigo, Yasushi Yagi
  • Journal Title: Proc.2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 1349-1354
• [Presentation] Patch-based adaptive tracking using spatial and appearance information (2008)
  • Author(s): Junqiu Wang, Yasushi Yagi
  • Organizer: In Proc. of IEEE Int'l. Conf. on Image Processing
  • Place of Presentation: San Diego, USA
• [Presentation] Accurate Calibration of Intrinsic Camera Parameters by Observing Parallel Light Pairs (2008)
  • Author(s): Sagawa, Ryusuke, Yagi, Yasushi
  • Organizer: In Proc. 2008 IEEE International Conf. on Robotics and Automation
  • Place of Presentation: California, USA
• [Presentation] Robust and Real-Time Egomotion Estimation Using a Compound Omnidirectional Sensor (2008)
  • Author(s): Ngo, Thanh Trung, Nagahara, Hajime, Sagawa, Ryusuke, Mukaigawa, Yasuhiro, Yachida, Masahiko, Yagi, Yasushi
  • Organizer: In Proc. 2008 IEEE International Conf. on Robotics and Automation
  • Place of Presentation: California, USA
• [Presentation] Human Tracking and Segmentation Supported by Silhouette-based Gait Recognition (2008)
  • Author(s): Junqiu Wang, Yasushi Makihara, Yasushi Yagi
  • Organizer: In Proc. 2008 IEEE International Conf. on Robotics and Automation
  • Place of Presentation: California, USA
• [Presentation] Consecutive Tracking and Segmentation Using Adaptive Mean Shift and Graph Cuts (2007)
  • Author(s): Junqiu Wang
  • Organizer: IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Sanya, China
  • Year and Date: 2007-12-16
• [Presentation] Mirror Localization for Catadioptric Imaging System by Observing Parallel Light Pairs (2007)
  • Author(s): Ryusuke Sagawa
  • Organizer: 8th Asian Conference on Computer Vision
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2007-11-20
• [Presentation] Gait Identification based on Multi-view Observations using Omnidirectional Camera (2007)
  • Author(s): Kazushige Sugiura
  • Organizer: 8th Asian Conference on Computer Vision
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2007-11-20
• [Presentation] Discriminative Mean Shift Tracking with Auxiliary Particles (2007)
  • Author(s): Junqiu Wang
  • Organizer: 8th Asian Conference on Computer Vision
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2007-11-20
• [Presentation] 2つの平行光の観測による内部カメラパラメータの安定なキャリブレーション (2007)
  • Author(s): 佐川 立昌
  • Organizer: 画像の認識・理解シンポジウム(MIRU2007)
  • Place of Presentation: 広島
  • Year and Date: 2007-07-30
• [Presentation] 視差検出フィルタによる狭基線長全方位ステレオ (2007)
  • Author(s): 小嶋 裕一郎
  • Organizer: 画像の認識・理解シンポジウム(MIRU2007)
  • Place of Presentation: 広島
  • Year and Date: 2007-07-30
• [Presentation] 装着型全方位監視に向けた複眼全方位センサによる動物体検出 (2007)
  • Author(s): 東 はるか
  • Organizer: 画像の認識・理解シンポジウム(MIRU2007)
  • Place of Presentation: 広島
  • Year and Date: 2007-07-30
• [Presentation] 全方位カメラを用いた複数方向観測による歩容認証 (2007)
  • Author(s): 杉浦 一成
  • Organizer: 画像の認識・理解シンポジウム(MIRU2007)
  • Place of Presentation: 広島
  • Year and Date: 2007-07-30
• [Presentation] 方向変化に伴う体の傾きを考慮した歩容認証 (2007)
  • Author(s): 槇原 靖
  • Organizer: 第13回画像センシングシンポジウム
  • Place of Presentation: 横浜
  • Year and Date: 2007-06-08
• [Presentation] 狭基線長ステレオのための視差検出フィルタ (2007)
  • Author(s): 佐川 立昌
  • Organizer: 第13回画像センシングシンポジウム
  • Place of Presentation: 横浜
  • Year and Date: 2007-06-08
• [Presentation] Mirror Localization for a Catadioptric Imaging System by Projecting Parallel Lights (2007)
  • Author(s): Ryusuke Sagawa
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Rome, Italy
  • Year and Date: 2007-04-13
• [Presentation] Robust and Real-time Rotation Estimation of Compound Omnidirectional Sensor (2007)
  • Author(s): Trung Ngo Thanh
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Rome, Italy
  • Year and Date: 2007-04-13
• [Presentation] Mirror Localization for Catadioptric Imaging System by Observing Parallel Light Pairs (2007)
  • Author(s): Ryusuke Sagawa, Nobuya Aoki, Yasushi Yagi
  • Organizer: Proc. 8th Asian Conf. on Computer Vision
  • Place of Presentation: Tokyo, Japan
• [Presentation] Gait Identification based on Multi-view Observations using Omnidirectional Camera (2007)
  • Author(s): Kazushige Sugiura, Yasushi Makihara, Yasushi Yagi
  • Organizer: Proc. 8th Asian Conf. on Computer Vision
  • Place of Presentation: Tokyo, Japan
• [Presentation] Discriminative Mean Shift Tracking with Auxiliary Particles (2007)
  • Author(s): Junqiu Wang, Yasushi Yagi
  • Organizer: Proc. 8th Asian Conf. on Computer Vision
  • Place of Presentation: Tokyo, Japan
• [Presentation] Mirror Localization for a Catadioptric Imaging System by Projecting Parallel Lights (2007)
  • Author(s): Ryusuke Sagawa, Nobuya Aoki, Yasuhiro Mukaigawa, Tomio Echigo, Yasushi Yagi
  • Organizer: Proc. IEEE International Conf. on Robotics and Automation
  • Place of Presentation: Roma, Italy
• [Presentation] Robust and Real-time Rotation Estimation of Compound Omnidirectional Sensor (2007)
  • Author(s): Trung Ngo Thanh, Hajime Nagahara, Ryusuke Sagawa, Yasuhiro Mukaigawa, Masahiko Yachida, Yasushi Yagi
  • Organizer: Proc. IEEE International Conf. on Robotics and Automation
  • Place of Presentation: Roma, Italy
• [Presentation] Integrating Shape and Color Features for Adaptive Real-time Object Tracking (2006)
  • Author(s): J. Wang, Y. Yagi
  • Organizer: Proc. IEEE International Conf. on Robotics and Biomimetics
  • Place of Presentation: Kunming, China
• [Presentation] Adaptation to Walking Direction Changes for Gait Identification (2006)
  • Author(s): Y. Makihara, R. Sagawa, Y. Mukaigawa, T. Echigo, Y. Yagi
  • Organizer: Proc. of the 18th IAPR Int. Conf. on Pattern Recognition
  • Place of Presentation: Hong Kong
• [Presentation] Gait Recognition Using a View Transformation Model in the Frequency Domain (2006)
  • Author(s): Y. Makihara, R. Sagawa, Y. Mukaigawa, T. Echigo, Y. Yagi
  • Organizer: Proc. of the 9th European Conf. on Computer Vision
  • Place of Presentation: Graz, Austria
• [Presentation] Matching Gait Image Sequences in the Frequency Domain for Tracking People at a Distance (2006)
  • Author(s): Ryusuke Sagawa, Yasushi Makihara, Tomio Echigo, Yasushi Yagi
  • Organizer: Proc. 7th Asian Conf. on Computer Vision
  • Place of Presentation: Hyderabad, India
• [Book] 人画像処理(第2章 画像特徴抽出) (2007)
  • Author(s): 八木 康史
  • Total Pages: 257
  • Publisher: オーム社
• [Remarks]
  • URL: http://www.am.sanken.osaka-u.ac.jp/