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1992 Fiscal Year Final Research Report Summary

3-D Data Acquisition of Scene by Motion Vision and its Understanding by Spatial Reasoning

Research Project

Project/Area Number 02452282
Research Category

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

Allocation TypeSingle-year Grants
Research Field Informatics
Research InstitutionOsaka University

Principal Investigator

YACHIDA Masahiko  Osaka Univ., Faculty of Engineering Science, Professor, 基礎工学部, 教授 (20029531)

Co-Investigator(Kenkyū-buntansha) XU Gang  Osaka Univ., Faculty of Engineering Science, Research Associate, 基礎工学部, 助手 (90226374)
YAGI Yasushi  Osaka Univ., Faculty of Engineering Science, Research Associate, 基礎工学部, 助手 (60231643)
Project Period (FY) 1990 – 1992
Keywordscomputer vision / robot vision / motion vision / 3-D information / knowledge-base / trinocular vision / spatial reasoning
Research Abstract

It is one of central problems of computer vision to understand the spatial structure of scene by interpreting images taken at various viewpoints.
In order to interpret those images coherently, it is important to establish correspondences of features among the images. We have found strong geometrical constraints to establish correspondences of features for three camera stereo which we call as trinocular constraints.
In this study, we have extended the trinocular constraints so that they can also be applied to motion vision. We have utilized edge-segments as units for correspondences. When the correspondences have been established, we obtain the 3-D coordinates of the edge-segments by using the triangulatin principle and make the 3-D model of the scene. This model is, however,a kind of wire-framed model where only the 3-D coordinates of edge-segments are known. From this wire-frame model, we next extract surfaces and recognize spatial structure of the scene by analyzing relations of these surfaces. Here, we took knowledge-based approach in which knowledge base contains rules which hold generally in the 3-D world.

  • Research Products

    (16 results)

All Other

All Publications (16 results)

  • [Publications] Y.Yagi,Y.Nishizawa and M.Yachida: "Estimation of Free Space for Mobile Robot using Omnidirectional Image Sensor COPIS" Proceedings IEEE/IES International Conference on Industrial Electronics,Control and Instrumentation. Vol2. 1329-1334 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] M.Yachida,A.Tsudo: "Understanding Spatial Configuration of Robot's Environment from Stereo Motion Images" IEEE/RSJ International Workshop on Intelligent Robots and Systems'91 Osaka. 882-887 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 津戸 明広,谷内田 正彦: "時系列ステレオ画像を用いた環境モデルの構築" 電子情報通信学会論文誌. J74-DII巻12号. 1723-1730 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Yagi,Y.Nishizawa and M.Yachida: "Map Based Navigation of the Mobile Robot Using Omnidirectional Image Sensor COPIS" Proceedings IEEE the International Conference on Robotics and Automation. Vol1. 47-52 (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] A.Utsumi,Y.Tagi and M.Yachida: "Estimating Surface and Spatial Structure from Wire-frame Model Using Geometrical & Heuristical Relation" IAPR Workshop on Machine Vision and Applications TOKYO. 25-28 (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 八木 康史,津戸 明広,谷内田 正彦: "移動視により得られたワイヤフレームモデルからの空間構成の理解" 日本ロボッと学会誌.

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 谷内田 正彦: "ロボットビジョン" 昭晃堂, 250 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 谷内田 正彦: "知識を用いた線画からの空間構成の理解 北村新三,片井修(編)画像と制御" 朝倉書店, 15 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.Yagi: "Estimation of Free Space for Mobile Robot using Omnidirectional Image Sensor COPIS (With Y.Nishizawa)" Proc. IEEE/IES Int. Conf. IECON'91. Vol.2. 1329-1334 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] M.Yachida: "Understanding Spatial Configuration of Robot's Environment from Stereo Motion Images (With A.Tsudo)" IEEE/RSJ Int. Workshop IROS'91. 882-887 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] A.Tsudo: "Reconstructing the Environmental Model Using Sequential Stereo Images" Trans. IEICE. Vol.J74-D-II No.12. 1723-1730 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Yagi: "Map Based Navigation of the Mobile Robot Using Omnidirectional Image Sensor COPIS (With Y.Nishizawa)" Proc. IEEE Int. Conf. Robotics and Automation. Vol.1. 47-52 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] A.Utsumi: "Estimating Surface and Spatial Structure from Wire-frame Model Using Geometrical & Heuristical Relation (With Y.Yagi)" Proc. IAPR Workshop on Machine Vision and Applications. 25-28 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] A.Utsumi: "Acquiring Surface Information from Wire-frame Model (With Y.Yagi)" MIRU'92. Vol.II. II-423 - II-430 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] M.Yachida: Shokodo. Robot Vision, 1-250 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] M.Yachida: Asakura Shoten. Understanding of Spatial Structure from Line Drawings Using Knowledge (With S.Kitamura, O.Katai), 15 (1991)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1994-03-24  

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