Analysis of appearance change in example-based pose estimation and extension to 3DOF

2010 Fiscal Year Final Research Report

• Project/Area Number: 20700163
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Hiroshima University
• Principal Investigator: TAMAKI Toru Hiroshima University, 大学院・工学研究院, 准教授 (10333494)
• Project Period (FY): 2008 – 2010
• Keywords: 姿勢推定 / 画像認識 / 球関数 / 学習に基づく手法

Research Abstract

In this research project we aimed for an example-based pose estimation from appearance of objects taken by a camera, and developed a theoretical aspect for linear methods and proposed a new estimation method. First, we have investigated experimentally the relation between the 1DOF pose estimation of a rotating object and its appearance. Second, we have proposed a new pose representation of 3DOF rotation by using spherical functions, and also a new concept of the use of higher order rotation matrices.

Research Products

• [Journal Article] 単位円特徴空間を用いた高速でコンパクトな三次元物体認識 (2010)
  • Author(s): 木村将之, 天野敏之, 玉木徹, 星田孝憲, 奥川裕之, 梅崎太造
  • Journal Title: 電子情報通信学会論文誌D Vol.J93-D, No.11 Pages: 2505-2515
  • Peer Reviewed
• [Journal Article] Representing images of a rotating object with cyclic permutation for view-based pose estimation (2009)
  • Author(s): Toru Tamaki, Toshiyuki Amano, Kazufumi Kaneda
  • Journal Title: Computer Vision and Image Understanding Vol.113, No.12 Pages: 1210-1221
  • Peer Reviewed
• [Presentation] Class-Specific Low-Dimensional Representation of Local Features for Viewpoint Invariant Object Recognition (2010)
  • Author(s): Bisser Raytchev, Yuta Kikutsugi, Toru Tamaki, Kazufumi Kaneda
  • Organizer: Proc.of ACCV2010 ; The 10th Asian Conference on Computer Vision, Vol.3, pp.1552-1563(2010 11)
  • Place of Presentation: Queenstown, New Zealand
  • Year and Date: 20101108-20101112
• [Presentation] View-Invariant Object Recognition with Visibility Maps (2010)
  • Author(s): Bisser Raytchev, Tetsuya Mino, Toru Tamaki, Kazufumi Kaneda
  • Organizer: Proc.of ICPR2010 ; The 20th International Conference on Pattern Recognition, pp.1040-1043(2010 08)
  • Place of Presentation: Istanbul Convention & Exhibition Centre, Istanbul, Turkey
  • Year and Date: 20100823-20100826
• [Presentation] Scale matching of 3D point clouds by finding keyscales with spin images (2010)
  • Author(s): Toru Tamaki, Shunsuke Tanigawa, Yuji Ueno, Bisser Raytchev, Kazufumi Kaneda
  • Organizer: Proc.of ICPR2010 ; The 20th International Conference on Pattern Recognition, pp.3480-3483(2010 08)
  • Place of Presentation: Istanbul Convention & Exhibition Centre, Istanbul, Turkey
  • Year and Date: 20100823-20100826
• [Presentation] アピアランスベースの物体認識と姿勢推定 (2010)
  • Author(s): 奥川裕之, 玉木徹, Bisser Raytchev, 金田和文
  • Organizer: MIRU2010画像の認識・理解シンポジウム論文集, pp.888-893(2010 07)
  • Place of Presentation: 釧路市観光国際センター, 北海道
  • Year and Date: 20100727-20100729
• [Presentation] クラス情報を埋め込んだ不変特徴量による3次元物体認識 (2010)
  • Author(s): 菊次優太, ライチェフビセル, 玉木徹, 金田和文
  • Organizer: MIRU2010画像の認識・理解シンポジウム論文集, pp.1652-1657(2010 07)
  • Place of Presentation: 釧路市観光国際センター, 北海道
  • Year and Date: 20100727-20100729
• [Presentation] Visibility Map による三次元物体の視点不変な検出と認識 (2010)
  • Author(s): 箕野徹哉, ライチェフビセル, 玉木徹, 金田和文
  • Organizer: MIRU2010画像の認識・理解シンポジウム論文集, pp.1658-1662(2010 07)
  • Place of Presentation: 釧路市観光国際センター, 北海道
  • Year and Date: 20100727-20100729
• [Presentation] CUDA-based implementations of Softassign and EM-ICP, Demonstration (2010)
  • Author(s): Toru Tamaki, Miho Abe, Bisser Raytchev, Kazufumi Kaneda, Marcos Slomp
  • Organizer: presented at CVPR2010 ; IEEE Conference on Computer Vision and Pattern Recognition
  • Place of Presentation: Hyatt Regency San Francisco, San Francisco, USA.
  • Year and Date: 20100615-20100617
• [Presentation] Estimating a Rotation Matrix R byusing higher-order Matrices R^n withApplication to Supervised PoseEstimation (2010)
  • Author(s): Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda, Toshiyuki Amano
  • Organizer: Proc.of SPPRA 2010 : The Seventh IASTED International Processing, Pattern Recognition and Applications, pp.58-64(2010 02).
  • Place of Presentation: Innsbruck, Austria
  • Year and Date: 20100217-20100219
• [Presentation] Comparison of 3 DOF Pose Representations for Pose Estimations (2010)
  • Author(s): Kengo Harada, Satoko Tanaka, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda, Toshiyuki Amano
  • Organizer: Proc.of FCV2010 ; the 16th Korea-Japan Joint Workshop on Frontiers of Computer Vision, pp.408-413(2010 02)
  • Place of Presentation: Aki Grand Hotel, Hiroshima, Japan
  • Year and Date: 20100204-20100205
• [Presentation] Yet Another Representation of SO(3) by Spherical Functions for Pose Estimation (2010)
  • Author(s): Toru Tamaki, Toshiyuki Amano, Kazufumi Kaneda
  • Organizer: Proc.of FCV2010 ; the 16th Korea-Japan Joint Workshop on Frontiers of Computer Vision, pp.402-407(2010 02)
  • Place of Presentation: Aki Grand Hotel, Hiroshima, Japan
  • Year and Date: 20100204-20100205
• [Presentation] Softassign and EM-ICP on GPU (2010)
  • Author(s): Toru Tamaki, Miho Abe, Bisser Raytchev, Kazufumi Kaneda
  • Organizer: Proc.of UPDAS2010 ; The 2nd Workshop on Ultra Performance and Dependable Acceleration Systems (2010 11)
  • Place of Presentation: Higashihiroshima, Hiroshima, Japan.
  • Year and Date: 2010-11-17
• [Presentation] 姿勢推定における姿勢表現の比較:100物体を用いた実験的評価 (2009)
  • Author(s): 田中聡子, 原田健吾, 玉木徹, Bisser Raytchev, 金田和文, 天野敏之
  • Organizer: 電子情報通信学会技術報告パターン認識・メディア理解研究会PRMU2009-93Vol.109, No.249, pp.127-132(2009 10)
  • Place of Presentation: 広島大学, 広島
  • Year and Date: 20091022-20091023
• [Presentation] R^nはRより高精度にRを推定できるか? (2009)
  • Author(s): 玉木徹, Bisser Raytchev, 天野敏之, 金田和文
  • Organizer: MIRU2009画像の認識・理解シンポジウム論文集, pp.984-991(2009 07)
  • Place of Presentation: くにびきメッセ, 島根
  • Year and Date: 20090720-20090722
• [Presentation] 線形的な3自由度姿勢推定のための姿勢表現の性質の実験的評価 (2009)
  • Author(s): 原田健吾, 玉木徹, Bisser Raytchev, 天野敏之, 金田和文
  • Organizer: MIRU2009画像の認識・理解シンポジウム論文集, pp.576-580(2009 07)
  • Place of Presentation: くにびきメッセ, 島根
  • Year and Date: 20090720-20090722
• [Presentation] Linear 3-D Object Pose Estimation with Dense Sample Images -Discussions about Limitation of Parameter Estimation Ability by the Linear Regressions- (2009)
  • Author(s): Toshiyuki Amano, Toru Tamaki
  • Organizer: Proc.of MVA2009 ; IAPR Conference on Machine Vision Applications, pp.182-186(2009 5)
  • Place of Presentation: Keio University, Japan
  • Year and Date: 20090520-20090522
• [Presentation] An Appearance Based Fast Linear Pose Estimation (2009)
  • Author(s): Toshiyuki Amano, Toru Tamaki
  • Organizer: Proc.of MVA2009 ; IAPR Conference on Machine Vision Applications, pp.287-290(2009 5)
  • Place of Presentation: Keio University, Japan
  • Year and Date: 20090520-20090522
• [Presentation] 姿勢推定と回転行列 (2009)
  • Author(s): 玉木徹
  • Organizer: 電子情報通信学会スマートインフォメディアシステム研究会(SIS)信号処理研究会(SIP)オーディオビジュアル複合情報処理研究会(IPSJ-AVM),電子情報通信学会技術報告SIP2009-48, SIS2009-23, Vol.109, No.202, pp.59-64(2009 09)
  • Place of Presentation: 広島大学, 広島
  • Year and Date: 2009-09-24
• [Presentation] 画像の学習による姿勢推定手法の学習サンプル数による精度変化の検討 (2008)
  • Author(s): 奥川裕之, 原田健吾, 玉木徹, 天野敏之, 金田和文
  • Organizer: 第10回IEEE広島支部学生シンポジウム(HISS)論文集, pp.98-71(2008 11)
  • Place of Presentation: 広島産業会館, 広島(CD-ROM)
  • Year and Date: 20081121-20081123
• [Presentation] 球関数による姿勢表現と姿勢推定 (2008)
  • Author(s): 玉木徹, 天野敏之, 金田和文
  • Organizer: MIRU2008画像の認識・理解シンポジウム論文集, pp.1134-1141(2008 07)
  • Place of Presentation: 軽井沢プリンスホテル, 長野
  • Year and Date: 20080729-20080731
• [Presentation] 球関数による3自由度回転物体画像系列の展開と画像補間・姿勢推定への応用 (2008)
  • Author(s): 玉木徹, 天野敏之, 金田和文
  • Organizer: MIRU2008画像の認識・理解シンポジウム論文集, pp.1169-1174(2008 07)
  • Place of Presentation: 軽井沢プリンスホテル, 長野
  • Year and Date: 20080729-20080731
• [Presentation] 稠密なサンプル画像を用いた3次元物体の線形姿勢推定-線形回帰によるパラメータ推定の能力限界に関する考察- (2008)
  • Author(s): 天野敏之, 玉木徹
  • Organizer: MIRU2008画像の認識・理解シンポジウム論文集, pp.1128-1133(2008 07)
  • Place of Presentation: 軽井沢プリンスホテル, 長野
  • Year and Date: 20080729-20080731
• [Presentation] 画像の学習に基づく姿勢推定手法の学習サンプル数と精度の関係性の検討 (2008)
  • Author(s): 奥川裕之, 原田健吾, 玉木徹, 天野敏之, 金田和文
  • Organizer: 平成20年度電気・情報関連学会中国支部第59回連合大会講演論文集, p.470(2008 10)
  • Place of Presentation: 鳥取大学, 鳥取
  • Year and Date: 2008-10-25
• [Remarks] ホームページ等
  • URL: http://home.hiroshima-u.ac.jp/tamaki/