3D Reconstruction from Ubiquitous Vehicle Cameras

• Project/Area Number: 18300058
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Nagoya Institute of Technology
• Principal Investigator: SATO Jun Nagoya Institute of Technology, 大学院・工学研究科, 教授 (20303688)
• Research Collaborator: SAKAUE Fumihiko 名古屋工業大学, 大学院・工学研究科, 助教 (00432287)
• Project Period (FY): 2006 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥13,880,000 (Direct Cost: ¥12,200,000、Indirect Cost: ¥1,680,000); Fiscal Year 2008: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000); Fiscal Year 2007: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2006: ¥6,600,000 (Direct Cost: ¥6,600,000)
• Keywords: コンピュータビジョン / 多視点カメラ / 多視点幾何 / ユビキタスカメラ / 任意視点映像生成 / ITS / 相互投影 / 多焦点カメラ / 自動車高度知能化

Research Abstract

本研究では、複数の車両に搭載されたカメラを互いに協調することにより、ドライバー支援を行う技術を開発した。特に、複数の運動するカメラ間の相対的な位置や姿勢や相対運動と画像情報との間の関係を線形に記述する新たな多視点幾何理論を導き出すと共に、これを用いた3次元道路空間の復元法を開発した。さらに車両間でカメラ画像を協調することによりドライバーの死角を仮想的に除去する技術や、サイドミラー等の雨滴を仮想的に除去する技術を開発した。

Research Products

• [Journal Article] 多視点幾何による移動レンジセンサの三次元データ補正 (2009)
  • Author(s): 小塚和紀, 佐藤淳
  • Journal Title: 電子情報通信学会論文誌 Vol.J92-D, No.3 Pages: 393-404
  • NAID: 110007381178
  • Peer Reviewed
• [Journal Article] 多視点幾何による移動レンジセンサの三次元データ補正 (2009)
  • Author(s): 小塚和紀, 佐藤淳
  • Journal Title: 電子情報通信学会論文誌 Vol. J92-D, No. 3 Pages: 393-404
  • NAID: 110007381178
  • Peer Reviewed
• [Journal Article] Multiple View Geometry under Projective Projections in Space-Time (2008)
  • Author(s): C. Wan, J. Sato
  • Journal Title: IEICE Transactions on Information and Systems Vol.E91-D, No.9 Pages: 2353-2359
  • NAID: 10026805783
  • Peer Reviewed
• [Journal Article] Computing Epipolar Geometry from Unsynchronized Cameras (2008)
  • Author(s): Y. Piao, J. Sato
  • Journal Title: IEICE Transactions on Information and Systems Vol.E91-D, No.8 Pages: 2171-2178
  • NAID: 10026805375
  • Peer Reviewed
• [Journal Article] Rectification of 3D Data Obtained from Moving Range Sensor by using Extended Projective Multiple View Geometry (2008)
  • Author(s): K. Kozuka, J. Sato
  • Journal Title: International Journal of Automation and Computing Vol.5, No.3 Pages: 268-275
  • Peer Reviewed
• [Journal Article] プロジェクタカメラの多視点幾何とその応用 (2008)
  • Author(s): 佐藤淳
  • Journal Title: 情報処理学会論文誌 Vol.49, No.SIG6 Pages: 56-67
  • NAID: 110005716397
  • Peer Reviewed
• [Journal Article] Rectification of 3D Data Obtained from Moving Range Sensor by using Extended Proiective Multiple View Geometry (2008)
  • Author(s): K. Kozuka, J. Sato
  • Journal Title: International Journal of Automation and Computing Vol. 5, No. 3 Pages: 268-275
  • Peer Reviewed
• [Journal Article] Computing Epipolar Geometry from Unsynchronized Cameras (2008)
  • Author(s): Y. Piao, J. Sato
  • Journal Title: Trans. of the Institute of Electronics, Information and Communication Engineers Vol. E91-D, No. 8 Pages: 2171-2178
  • NAID: 10026805375
  • Peer Reviewed
• [Journal Article] Multiple View Geometry under Projective Projections in Space-Time (2008)
  • Author(s): C. Wan, J. Sato
  • Journal Title: Trans. of the Institute of Electronics, Information and Communication Engineers Vol. E91-D, No. 9 Pages: 2353-2359
  • NAID: 10026805783
  • Peer Reviewed
• [Journal Article] プロジェクタカメラの多視点幾何とその応用 (2008)
  • Author(s): 佐藤 淳
  • 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 49 Pages: 56-67
  • NAID: 110005716397
  • Peer Reviewed
• [Journal Article] Rectification of 3D Data Obtained from Moving Range Sensor by usingExtended Projective Multiple View Geometry (2008)
  • Author(s): K.Kozuka, J.Sato
  • Journal Title: International Journal of Automation andComputing (採録決定印刷待ち)
  • Peer Reviewed
• [Journal Article] 時空間における多視点幾何 (2007)
  • Author(s): 早川和孝, 佐藤淳
  • Journal Title: 電子情報通信学会論文誌 Vol.J90-D, No.8 Pages: 1878-1887
  • NAID: 110007380802
  • Peer Reviewed
• [Journal Article] 時空間における多視点幾何 (2007)
  • Author(s): 早川 和孝, 佐藤 淳
  • Journal Title: 電子情報通信学会論文誌 J90D,8 Pages: 1878-1887
  • NAID: 110007380802
  • Peer Reviewed
• [Journal Article] 未校正カメラと未校正プロジェクタによる3次元復元と仮想楽器への応用 (2006)
  • Author(s): 西江桂亮, 佐藤淳
  • Journal Title: 情報処理学会論文誌 Vol.47, No.SIG10 Pages: 49-58
  • NAID: 110006391042
  • Peer Reviewed
• [Journal Article] Space-Time Invariants for Recognizing 3D Motions from Arbitrary Viewpoints under Perspective Projection (2006)
  • Author(s): Y.PIAO, K. HAYAKAWA, J.SATO
  • Journal Title: IEICE Transactions on Information and Systems Vol.E89-D, No.7 Pages: 2268-2274
  • NAID: 110007541117
  • Peer Reviewed
• [Journal Article] Recovering Multiple View Geometry from Mutual Projections of Multiple Cameras (2006)
  • Author(s): J. Sato
  • Journal Title: International Journal of Computer Vision Vol.66, No.2 Pages: 123-140
  • Peer Reviewed
• [Journal Article] Recovering Multiple View Geometry from Mutual Projections of Multiple Cameras (2006)
  • Author(s): Jun Sato
  • Journal Title: International Journal of Computer Vision 66・2 Pages: 123-140
• [Journal Article] Multiple View Geometry in the Space-Time (2006)
  • Author(s): K.Hayakawa, J.Sato
  • Journal Title: Proc. Asian Conference on Computer. Vision LNCS-3852 Pages: 437-446
  • NAID: 110007380802
• [Journal Article] Generating Free Viewpoint Images from Mutual Projection of Cameras (2006)
  • Author(s): K.Kato, J.Sato
  • Journal Title: Proc. Asian Conference on Computer Vision LNCS-3851 Pages: 470-479
• [Journal Article] 3D Reconstruction from Uncalibrated Cameras and Uncalibrated Projectors from Shadows (2006)
  • Author(s): K.Nishie, J.Sato
  • Journal Title: Proc. International Conference on Pattern Recognition 1 Pages: 15-18
• [Journal Article] 時空間における多視点幾何 (2006)
  • Author(s): 早川 和孝, 佐藤 淳
  • Journal Title: 画像の認識・理解シンポジウム予稿集 Pages: 149-154
  • NAID: 110007380802
• [Journal Article] 並進カメラによる非剛体運動の多視点幾何 (2006)
  • Author(s): 小塚 和紀, 佐藤 淳
  • Journal Title: 画像の認識・理解シンポジウム予稿集 Pages: 700-705
• [Presentation] エピポーラ幾何を用いた車両サイドミラーの仮想雨滴除去 (2009)
  • Author(s): 野本恭平, 坂上文彦, 佐藤淳
  • Organizer: 画像センシングシンポジウム
  • Place of Presentation: 横浜
• [Presentation] 車載マルチプロジェクタを用いた悪路走行支援のための路面形状強調提示 (2009)
  • Author(s): 稲垣雅彦, 坂上文彦, 佐藤淳
  • Organizer: 画像センシングシンポジウム
  • Place of Presentation: 横浜
• [Presentation] Multiple View Geometry of Projector-Camera Systems from Virtual Mutual Projection (2009)
  • Author(s): S. Kobayashi, F. Sakaue, J. Sato
  • Organizer: Pacific-Rim Symposium on Image and Video Technology
  • Place of Presentation: Tokyo, Japan
• [Presentation] Linear Image Representation under Close Lighting for Shape Reconstruction (2009)
  • Author(s): Y. Fujita, F. Sakaue, J. Sato
  • Organizer: International Conference on Computer Vision Theory and Applications
  • Place of Presentation: Lisbon, Portugal
• [Presentation] 光源位置の高次写像を利用した近接光源画像の線形表現法 (2009)
  • Author(s): 藤田悦康, 坂上文彦, 佐藤淳
  • Organizer: コンピュータビジョンとイメージメデイア研究会
  • Place of Presentation: 仙台
• [Presentation] 拡張多視点幾何に基づく任意視点・任意時刻映像生成 (2009)
  • Author(s): 中村直行, 坂上文彦, 佐藤淳
  • Organizer: コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: 仙台
• [Presentation] Multiple View Geometry for Mixed Dimensional Cameras (2008)
  • Author(s): K.Kozuka and J.Sato
  • Organizer: International Conference on Computer VisionTheory and Applications
  • Place of Presentation: Madeira, Portugal
  • Year and Date: 2008-01-23
• [Presentation] Computing Multiple View Geometry in Space-Time from Mutual Projections of Multiple Cameras (2008)
  • Author(s): C. Wan, J. Sato
  • Organizer: International Conference on Pattern Recognition
  • Place of Presentation: Tampa, USA
• [Presentation] Calibration of Projector-Camera Systems from Virtual Mutual Projection (2008)
  • Author(s): F.Sakaue, J.Sato
  • Organizer: International Conference on Pattern Recognition
  • Place of Presentation: Tampa, USA
• [Presentation] スペースタイムカービングによる形状と運動の復元 (2008)
  • Author(s): 高見政明, 坂上文彦, 佐藤淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 軽井沢
• [Presentation] Image Synthesis for Blind Corners from Uncalibrated Multiple Vehicle Camera (2008)
  • Author(s): K. Ichikawa, J. Sato
  • Organizer: IEEE Intelligent Vehicles Symposium
  • Place of Presentation: Eindhoven, Netherlands
• [Presentation] Multiple View Geometry for Mixed Dimensional Cameras (2008)
  • Author(s): K. Kozuka, J. Sato
  • Organizer: 3rd International Conference on Computer Vision Theory and Applications
  • Place of Presentation: Funchal Portugal
• [Presentation] Image Synthesis for Blind Corners from Uncalibrated Multiple Vehicle Cameras (2008)
  • Author(s): K. Ichikawa, J. Sato
  • Organizer: IEEE Intelligent Vehicles Symposium
  • Place of Presentation: Eindhoven, Netherlands
• [Presentation] モバイルマルチプロジェクタを用いたリアルタイムレンジファインダ (2008)
  • Author(s): 坂上文彦, 永田善裕, 佐藤淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 軽井沢
• [Presentation] 複合次元における多視点幾何 (2008)
  • Author(s): 小塚和紀, 佐藤淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 軽井沢
• [Presentation] 仮想相互投影によるプロジェクタカメラシステムの多視点幾何計算 (2008)
  • Author(s): 小林周平, 坂上文彦, 佐藤淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 軽井沢
• [Presentation] エピポーラGeometric Hashingに基づく高速異視点画像検索 (2008)
  • Author(s): 加藤一樹, 坂上文彦, 佐藤淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 軽井沢
• [Presentation] 未校正カメラの車両画像強調に基づく死角の仮想映像生成 (2007)
  • Author(s): 市川 一樹, 佐藤 淳
  • Organizer: 第6回ITSシンポジウム
  • Place of Presentation: 神戸
  • Year and Date: 2007-12-06
• [Presentation] Rectification of 3D Data Obtained from Moving Range Sensor by usingMultiple View Geometry under Projective Projections in Space-Time (2007)
  • Author(s): K.Kozuka and C.Wan and J.Sato
  • Organizer: International Workshop on Multi-Dimensional andMulti-View Image Processing
  • Place of Presentation: Tokyo
  • Year and Date: 2007-11-19
• [Presentation] Computing Epipolar Geometry from Unsynchronized Cameras (2007)
  • Author(s): Y.Piao and J.Sato
  • Organizer: International Conference onI mage Analysisand Processing
  • Place of Presentation: Modena, Italy
  • Year and Date: 2007-09-12
• [Presentation] Rectification of 3D Data Obtained from Moving RangeSensors by using Multiple View Geometry (2007)
  • Author(s): K.Kozukaand J.Sato
  • Organizer: International Conference on ImageAnalysis and Processing
  • Place of Presentation: Modena, Italy
  • Year and Date: 2007-09-11
• [Presentation] Calibration and Image Generation of MobileProjector-Camera Systems (2007)
  • Author(s): K.Hamada and J.Sato
  • Organizer: International Conference on ImageAnalysis and Processing
  • Place of Presentation: Modena, Italy
  • Year and Date: 2007-09-11
• [Presentation] Multiple View Geometry under Projective Projections inSpace-Time (2007)
  • Author(s): 万 程, 佐藤 淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 広島
  • Year and Date: 2007-07-31
• [Presentation] Computing Epipolar Geometry from Unsynchronized Cameras (2007)
  • Author(s): 朴 英, 佐藤 淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 広島
  • Year and Date: 2007-07-31
• [Presentation] スペースタイムカービング法によるリアルタイム環境復元 (2007)
  • Author(s): 高見 政明, 坂上 文彦, 佐藤 淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 広島
  • Year and Date: 2007-07-31
• [Presentation] 多視点幾何に基づく3次元空間描画の実現 (2007)
  • Author(s): 中村 直行, 坂上 文彦, 佐藤 淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 広島
  • Year and Date: 2007-07-30
• [Presentation] Rectification of 3D Data Obtained from Moving Range Sensor by using Multiple View Geometry under Projective Projections in Space-Time (2007)
  • Author(s): K. Kozuka, C. Wan J. Sato
  • Organizer: International Workshop on Multi-Dimensional and Multi-View Image Processing
  • Place of Presentation: Tokyo
• [Presentation] Multiple View Geometry for Non-Rigid Motions Viewed from Translational Cameras (2007)
  • Author(s): C.Wan, K. Kozuka, J.Sato
  • Organizer: Asian Conference on Computer Vision
  • Place of Presentation: Tokyo
• [Presentation] Rectification of 3D Data Obtained from Moving Range Sensors by using Multiple View Geometry (2007)
  • Author(s): K. Kozuka, J. Sato
  • Organizer: International Conference on Image Analysis and Processing
  • Place of Presentation: Modena
• [Presentation] Calibration and Image Generation of Mobile Projector-Camera Systems (2007)
  • Author(s): K.Hamada, J.Sato
  • Organizer: International Conference on Image Analysis and Processing
  • Place of Presentation: Modena
• [Presentation] Computing Epipolar Geometry from Unsynchronized Cameras (2007)
  • Author(s): Y. Piao, J. Sato
  • Organizer: International Conference on Image Analysis and Processing
  • Place of Presentation: Modena
• [Presentation] Multiple View Geometry under Projective Projections in Space-Time (2007)
  • Author(s): 万程, 佐藤淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 広島
• [Presentation] 3D Reconstruction from Uncalibrated Cameras and Uncalibrated Projectors from Shadows (2006)
  • Author(s): K. Nishie, J. Sato
  • Organizer: International Conference on Pattern Recognition
  • Place of Presentation: Hong Kong
• [Presentation] 時空間における多視点幾何 (2006)
  • Author(s): 早川和孝, 佐藤淳
  • Organizer: 画像の認識・理解シンポジウム
  • Place of Presentation: 仙台
• [Presentation] 車両間画像通信を用いた死角の仮想映像生成 (2006)
  • Author(s): 市川一樹, 佐藤淳
  • Organizer: 第11回画像センシングシンポジウム
  • Place of Presentation: 横浜
• [Book] コンピュータビジョン-最先端ガイド1-(八木康史, 斎藤英雄編) (2008)
  • Author(s): 佐藤淳, 他4名(分担執筆)
  • Publisher: アドコムメディア
• [Book] コンピュータビジョン 最先端ガイド1 (2008)
  • Author(s): 佐藤淳(八木康史, 斉藤英雄編)
  • Publisher: アドコムメディア
• [Patent(Industrial Property Rights)] 3次元情報提示装置 (2009)
  • Inventor(s): 佐藤淳, 坂上文彦, 稲垣雅彦
  • Industrial Property Rights Holder: 国立大学法人名古屋工業大学
  • Filing Date: 2009-06-08