Functionally layered coding for visual odometry and its application to autonomous traveling camera

• Project/Area Number: 26289117
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Communication/Network engineering
• Research Institution: Nagaoka University of Technology
• Principal Investigator: Iwahashi Masahiro 長岡技術科学大学, 工学(系)研究科(研究院), 教授 (30251854)
• Co-Investigator(Kenkyū-buntansha): 上村 靖司 長岡技術科学大学, 工学(系)研究科(研究院), 教授 (70224673) ; 木村 哲也 長岡技術科学大学, その他の研究科, 准教授 (70273802) ; 吉田 太一 長岡技術科学大学, 工学(系)研究科(研究院), 助教 (60737914)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Project Status: Completed (Fiscal Year 2016)
• Budget Amount: ¥15,730,000 (Direct Cost: ¥12,100,000、Indirect Cost: ¥3,630,000); Fiscal Year 2016: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000); Fiscal Year 2015: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2014: ¥7,670,000 (Direct Cost: ¥5,900,000、Indirect Cost: ¥1,770,000)
• Keywords: 画像 / 情報通信工学 / 圧縮 / ロボット

Outline of Final Research Achievements

It is required to develop a group of crawler robots which can autonomously travel and monitor around a rescue scene. In such a scene, there is no well prepared infrastructure for telecommunications for the autonomous travel robots. This research develops a new video processing method for visual odometry based on high dynamic range image processing techniques. It also develops a new data compression method for a narrow band telecommunication network based on the functionally layered coding technique.

Research Products

• [Int'l Joint Research] Thammasat University(Thailand)
• [Int'l Joint Research] Malaya University(Malaysia)
• [Journal Article] Channel Scaling for Integer Implementation of Minimum Lifting 2D Wavelet Transform (2016)
  • Author(s): Teerapong ORACHON, Taichi YOSHIDA, Masahiro IWAHASHI, Hitoshi KIYA
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences Volume: E99.A Issue: 7 Pages: 1420-1429
  • DOI: 10.1587/transfun.E99.A.1420
  • NAID: 130005159604
  • ISSN: 0916-8508, 1745-1337
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Adaptive Directional Lifting Structure of Three Dimensional Non-Separable Discrete Wavelet Transform for High Resolution Volumetric Data Compression (2016)
  • Author(s): Fairoza Amira Binti Hamzah, Taichi Yoshida, Masahiro Iwahashi, and Hitoshi Kiya
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences Volume: E99.A Issue: 5 Pages: 892-899
  • DOI: 10.1587/transfun.E99.A.892
  • NAID: 130005148589
  • ISSN: 0916-8508, 1745-1337
  • Peer Reviewed
• [Journal Article] Word Length Allocation for Multiplier Coefficients of Minimum Lifting Non-Separable 2D Wavelet Transform (2016)
  • Author(s): Teerapong ORACHON, Taichi YOSHIDA, Chokchaitam COMCHART, Masahiro IWAHASHI, Hitoshi KIYA
  • Journal Title: IEEJ Transactions on Electronics, Information and Systems Volume: 136 Issue: 9 Pages: 1392-1399
  • DOI: 10.1541/ieejeiss.136.1392
  • NAID: 130005262288
  • ISSN: 0385-4221, 1348-8155
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] A Unified Tone Mapping Operation for HDR Images Expressed in Integer Data (2016)
  • Author(s): Toshiyuki DOBASHI, Masahiro IWAHASHI, and Hitoshi KIYA
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences Volume: E99.A Issue: 3 Pages: 774-776
  • DOI: 10.1587/transfun.E99.A.774
  • NAID: 130005131289
  • ISSN: 0916-8508, 1745-1337
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Bit-depth scalable lossless coding for high dynamic range images (2015)
  • Author(s): M. Iwahashi, T. Yoshida, N. Mokhtar, and H. Kiya
  • Journal Title: EURASIP J. Adv. Signal Process. Volume: 2015 Issue: 1 Pages: 1-22
  • DOI: 10.1186/s13634-015-0209-y
  • Peer Reviewed / Open Access
• [Journal Article] Non-separable 3D integer wavelet transform for lossless data compression (2015)
  • Author(s): Teerapong Orachon, Suvit Poomrittigul, Taichi Yoshida, Masahiro Iwahashi, Somchart Chokchaitam
  • Journal Title: Science Journal of Circuits, Systems and Signal Processing Volume: 3 Issue: 6 Pages: 25-46
  • DOI: 10.11648/j.cssp.20140306.11
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Color Image Transcoding of Lossless Encoder and Standard Lossy Decoder based on JP2K (2014)
  • Author(s): S. POOMRITTIGUL, M. IWAHASHI
  • Journal Title: ECTI Transactions on Computer and Information Technology Volume: 8 Pages: 113-121
• [Journal Article] Reduction of Lifting Steps of Non Separable 2D Quadruple Lifting DWT Compatible with Separable 2D DWT (2014)
  • Author(s): S. POOMRITTIGUL, M. IWAHASHI, H. KIYA
  • Journal Title: IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences Volume: E97.A Issue: 7 Pages: 1492-1499
  • DOI: 10.1587/transfun.E97.A.1492
  • NAID: 130004519176
  • ISSN: 0916-8508, 1745-1337
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Presentation] Non-Separable Quadruple Lifting Structure for Four-Dimensional Integer Wavelet Transform With Reduced Rounding Noise (2017)
  • Author(s): B Hamzah, F Amira, FAB Hamzah, T Yoshida, M Iwahashi
  • Organizer: IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)
  • Place of Presentation: New Orleans
  • Year and Date: 2017-03-07
  • Int'l Joint Research
• [Presentation] High dynamic range imaging based on camera response estimation and multi-gradients fusion (2016)
  • Author(s): Daiki Kimura, Akira Kondo, Taichi Yoshida, Masahiro Iwahashi
  • Organizer: Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)
  • Place of Presentation: Jeju, Korea
  • Year and Date: 2016-12-13
  • Int'l Joint Research
• [Presentation] Estimation method of initial labels for propagation-based saliency detection (2016)
  • Author(s): You Umeki, Taichi Yoshida, Masahiro Iwahashi
  • Organizer: Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)
  • Place of Presentation: Jeju, Korea
  • Year and Date: 2016-12-13
  • Int'l Joint Research
• [Presentation] Optimum SPT Allocation for Multipliers of Minimum Lifting 2D Wavelet Transform (2016)
  • Author(s): Masahiro IWAHASHI, Teerapong ORACHON, Taichi YOSHIDA, Hitoshi KIYA
  • Organizer: IEEE International Symposium on Circuits and Systems (ISCAS)
  • Place of Presentation: Montreal, Canada
  • Year and Date: 2016-05-22
  • Int'l Joint Research
• [Presentation] Subset Noise Bias Compensation for Tone-mapping and Up-scaling of JPEG Images (2016)
  • Author(s): Masahiro IWAHASHI, Tin Moe Aye, Taichi YOSHIDA, Hitoshi KIYA
  • Organizer: IEEE International Symposium on Circuits and Systems (ISCAS)
  • Place of Presentation: Montreal, Canada
  • Year and Date: 2016-05-22
  • Int'l Joint Research
• [Presentation] Channel Scaling for Rounding Noise Reduction in Minimum (2015)
  • Author(s): Fairoza Amira Binti HAMZAH, Taichi YOSHIDA, Masahiro IWAHASHI, and Hitoshi KIYA
  • Organizer: APSIPA Annual Summit and Conference
  • Place of Presentation: Hong Kong
  • Year and Date: 2015-12-17
  • Int'l Joint Research
• [Presentation] Two Layer Coding of HDR Images with Noise Bias Compensation (2015)
  • Author(s): Masahiro IWAHASHI, Fairoza Amira Binti HAMZAH, Taichi YOSHIDA, and Hitoshi KIYA
  • Organizer: APSIPA Annual Summit and Conference
  • Place of Presentation: Hong Kong
  • Year and Date: 2015-12-17
  • Int'l Joint Research
• [Presentation] Noise Bias Compensation based on Bayesian Inference for Tone Mapped Noisy Image (2015)
  • Author(s): Masahiro IWAHASHI, Fairoza Amira Binti HAMZAH, Taichi YOSHIDA, and Hitoshi KIYA
  • Organizer: APSIPA Annual Summit and Conference
  • Place of Presentation: Hong Kong
  • Year and Date: 2015-12-17
  • Int'l Joint Research
• [Presentation] L2 Norm Optimization of Tone Mapping for Two Layer Lossless Coding of HDR Images (2014)
  • Author(s): M. IWAHASHI, Taichi YOSHIDA, and Hitoshi KIYA
  • Organizer: APSIPA Annual Summit and Conference
  • Place of Presentation: Cambodia
  • Year and Date: 2014-12-10 – 2014-12-11
• [Presentation] Range Reduction of HDR Images for Backward Compatibility with LDR Image Processing (2014)
  • Author(s): M. IWAHASHI, Taichi YOSHIDA, and Hitoshi KIYA
  • Organizer: APSIPA Annual Summit and Conference
  • Place of Presentation: Cambodia
  • Year and Date: 2014-12-10 – 2014-12-11
• [Presentation] Non-separable three dimensional discrete wavelet transform with adaptive directional prediction (2014)
  • Author(s): Fairoza Amira Binti HAMZAH, Teerapong ORACHON, Taichi YOSHIDA, M. IWAHASHI, and Hitoshi KIYA
  • Organizer: APSIPA Annual Summit and Conference
  • Place of Presentation: Cambodia
  • Year and Date: 2014-12-10 – 2014-12-11
  • Invited
• [Presentation] Noise Bias Compensation of Tone Mapped Noisy Image (2014)
  • Author(s): M. IWAHASHI and Hitoshi KIYA
  • Organizer: IEEE International Conference on Image Processing (ICIP)
  • Place of Presentation: Paris
  • Year and Date: 2014-10-29 – 2014-10-30
• [Presentation] An Integer Tone Mapping Operation for HDR Images in OpenEXR with Denormalized Numbers (2014)
  • Author(s): Tatsuya MUROFUSHI, Toshiyuki DOBASHI, M. IWAHASHI, and Hitoshi KIYA
  • Organizer: IEEE International Conference on Image Processing (ICIP)
  • Place of Presentation: Paris
  • Year and Date: 2014-10-29 – 2014-10-30