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1999 Fiscal Year Final Research Report Summary

Aspect Representation of Environment

Research Project

Project/Area Number 09680368
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent informatics
Research InstitutionWakayama University

Principal Investigator

TSUJI Saburo  Wakayama Univ., Faculty of Systems Engineering, Professor, システム工学部, 教授 (60029527)

Co-Investigator(Kenkyū-buntansha) KATO Koji  Wakayama Univ., Faculty of Systems Engineering, Research Associate, システム工学部, 助手 (30273874)
Project Period (FY) 1997 – 1999
Keywordscomputer vision / aspect / object recognition / environment model / artificial intelligence / robot vision
Research Abstract

Objectives
Aspect graph has been used for representing appearances of a 3D object. This research explores to generalize "aspect" to represent appearances of a wide environment in which an intelligent agent moves and views.
1.Aspect Changes with Distance from Camera
Most of theoretical studies on the aspect graph assume orthographic projection and ideal line images of an object. However, the significant variations in distances from a viewer to visible features in the environment make the assumption of the orthographic projection. As a results, translation of the viewer causes visual events. A feature extractor finds two separated features as connected id the distance between their projections in the image is within the sensor resolution. Image quantization causes significant changes in the detected features as the camera distance varies. Moreover, the detection of the visual features become unstable while observing them from certain ranges. Representation of aspects of the environment shou … More ld accommodate to such difficulties.
2.Representing Aspects of Wide Environment
Since the environment covers the whole space around the viewer, we propose its aspects are represented by visual information acquired from all directions by an omnidirectional sensor, rather than by visual data in a narrow sight. Thus, the visual space is represented by a 2D floor surface which is partitioned into visual cells by the environment aspect. We can analyze aspects of appearances of simple environments covered with a small number of planar surfaces. However, the real environment is very complex and we cannot manage the huge number of its aspects, even if we could determine them. Thus, we propose a generalize concept of aspect ; partition the view space with almost similar iconic features in the omnidirectional view. An example of such iconic features is low frequency distribution of Fourier transformation of the omnidirectional image. An alternative approach is to analyze scene structures and represent the environment as their arrangements. Experiments is a real scene shows the effectiveness and robustness of the method. Less

  • Research Products

    (10 results)

All Other

All Publications (10 results)

  • [Publications] J.Y. Zheng: "Generating dynamic images for scene representation"Computer Vision and Image Understanding. 72. 234-256 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] K. Kato: "Representation of environments through target guided navigation"Proc. 14th ICPR. 2. 1794-1798 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] S. Li: "Qualitative representation of scenes along route"Image and Vision Computing. 17. 685-700 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] K. Kato: "Identifying and locating robots in multi-robots environment"Proc. IROS-99. 966-971 (1999)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 加藤浩仁: "全方位視覚センサを持った複数ロボットの同定と位置決め"電気情報通信学会論文誌. (印刷中).

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 徐 剛: "3次元ビジョン"共立出版. 185 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Zheng,J.-Y. and Tsuji,S.: "Generating dynamic projection images for representation and understanding"Computer Vision & Image Understanding. 72-3. 237-256 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kato,K. and Tsuji,S.: "Representation of environment through target-guided navigation"Proc. 14th Int. Conf. Pattern Recog.. 2. 1794-1798 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Li,S. and Tsuji,S.: "Qualitative representation of scenes along route"Image & Vision Computing. 17-9. 685-700 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kato,K., Barth,M. and Ishiguro,H.: "Identifying and locating robots in multi-robot environments"Proc. IROS-99. 966-971 (1999)

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

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Published: 2001-10-23  

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