| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
|
|---|
| Outline of Final Research Achievements |
We developed a method to acquire three-dimensional map only from images taken by several types of cameras using the technique of Structure from Motion. We set up a route of Tsukuba Mobility Robot Experimental Zone, and acquired a lot of movies with high definition omnidirectional cameras. Two types of methods for 3D reconstruction were produced: sequential and global methods. In order to cope with an increase of the number of images, we introduced an approximate solution method was introduced. As a result, computation time was reduced less than 3 % of the conventional method while suppressing accuracy degradation. Furthermore, instead of treating the omnidirectional image as a two-dimensional conventional image, three-dimensional pixel grid was set as a spherical image, and feature points and feature point descriptors could be directly extracted from the spherical surface. Using these, we developed a system that calculates the self-position on the map when a query image was taken.
|
