Optimal 3-D Reconstruction from Multiple Images by Means of Orthogonal Projection in High-dimensional Spaces

2011 Fiscal Year Final Research Report

• Project/Area Number: 21500172
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Okayama University
• Principal Investigator: KANATANI Kenichi 岡山大学, 大学院・自然科学研究科, 教授 (60125838)
• Co-Investigator(Kenkyū-buntansha): NIITSUMA Hirotaka 岡山大学, 大学院・自然科学研究科, 助教 (60452562)
• Co-Investigator(Renkei-kenkyūsha): SUGAYA Yasuyuki 豊橋技術科学大学, 工学部, 准教授 (00335580)
• Project Period (FY): 2009 – 2011
• Keywords: 幾何学的推定 / 最適化手法 / 最尤推定 / 超精度最小二乗法 / 超精度くりこみ法 / 3次元形状復元 / 楕円当てはめ / カメラ校正

Research Abstract

We have established a high-accuracy method for reconstructing 3-D shapes from multiple images by means of orthogonal projection. As byproducts, many new optimization techniques have been discovered for computing geometric properties from noisy data, including an iterative technique for exact maximum likelihood computation, high-accuracy non-iterative "hyper-least squares", and "hyper-renormalization" with higher accuracy than maximum likelihood.

Research Products

• [Journal Article] Optimal computation of 3-D similarity : Gauss-Newton vs. Gauss-Helmert (2012)
  • Author(s): K. Kanatani and H. Niitsuma
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.46 Pages: 21-23
• [Journal Article] Calibration of ultra-wide fisheye lens cameras by eigenvalue minimization (2012)
  • Author(s): K. Kanatani
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.46 Pages: 10-20
• [Journal Article] Optimal computation of 3-D similarity from space data with inhomogeneous noise distributions (2012)
  • Author(s): K. Kanatani and H. Niitsuma
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.46 Pages: 1-9
• [Journal Article] HyperLS and its applications (2011)
  • Author(s): K. Kanatani, P. Rangarajan, Y. Sugaya and H. Niitsuma
  • Journal Title: IPSJ Transactions on Computer Vision and Applications Volume: Vol.3 Pages: 80-94
  • Peer Reviewed
• [Journal Article] Optimal two-view planar triangulation (2011)
  • Author(s): K. Kanatani and H. Niitsuma
  • Journal Title: IPSJ Transactions on Computer Vision and Applications Volume: Vol.3 Pages: 67-79
  • Peer Reviewed
• [Journal Article] Hyper least squares fitting of circles and ellipses (2011)
  • Author(s): K. Kanatani and P. Rangarajan
  • Journal Title: Computational Statistics and Data Analysis Volume: Vol.55, No.6 Pages: 2197-2208
  • Peer Reviewed
• [Journal Article] Hyper least squares and its applications (2011)
  • Author(s): K. Kanatani, P. Rangarajan, Y. Sugaya and H. Niitsuma
  • Journal Title: Memoirs of the Facultyof Engineering Volume: Vol.45 Pages: 20-31
• [Journal Article] Optimal computation of 3-D rotation under inhomogeneous anisotropic noise (2011)
  • Author(s): K. Kanatani and H. Niitsuma
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.45 Pages: 10-19
• [Journal Article] Bundle adjustment for 3-D reconstruction : Implementation and evaluation (2011)
  • Author(s): K. Kanatani and Y. Sugaya
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.45 Pages: 1-9
• [Journal Article] Optimization without search : Constraint satisfaction by orthogonal projection with applications to multiview triangulation (2010)
  • Author(s): K. Kanatani, Y. Sugaya and H. Niitsuma
  • Journal Title: IEICE Transactions on Information and Systems Volume: Vol.E93-D, No.10 Pages: 2836-2845
  • Peer Reviewed
• [Journal Article] Unified computation of strict maximum likelihood for geometric fitting (2010)
  • Author(s): K. Kanatani and Y. Sugaya
  • Journal Title: Journal of Mathematical Imaging and Vision Volume: Vol.38, No.1 Pages: 1-13
  • Peer Reviewed
• [Journal Article] Compact fundamental matrix computation (2010)
  • Author(s): K. Kanatani and Y. Sugaya
  • Journal Title: IPSJ Transactions on Computer Vision and Applications Volume: Vol.2 Pages: 59-70
  • Peer Reviewed
• [Journal Article] Geometric BIC (2010)
  • Author(s): K. Kanatani
  • Journal Title: IEICE Transactions on Information and Systems Volume: Vol.E93-D, No.1 Pages: 144-151
  • Peer Reviewed
• [Journal Article] High accuracy homography computation without iterations (2010)
  • Author(s): K. Kanatani, H. Niitsuma, and P. Rangarajan
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.44 Pages: 50-59
• [Journal Article] Hyperaccurate ellipse fitting without iterations (2010)
  • Author(s): K. Kanatani and P. Rangarajan
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.44 Pages: 42-49
• [Journal Article] Optimization without Search : Constraint Satisfaction by Orthogonal Projection with Applications to Multiview Triangulation (2010)
  • Author(s): K. Kanatani, H. Niitsuma, and Y. Sugaya
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.44 Pages: 32-41
• [Journal Article] Improved multistage learning for multibody motion segmentation (2010)
  • Author(s): K. Kanatani and Y. Sugaya
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.44 Pages: 24-31
• [Journal Article] Unified computation of strict maximum likelihood for geometric fitting (2010)
  • Author(s): K. Kanatani and Y. Sugaya
  • Journal Title: Memoirs of the Faculty of Engineering Volume: Vol.44 Pages: 13-23
• [Journal Article] Improved algebraic methods for circle fitting (2009)
  • Author(s): P. Rangarajan and K. Kanatani
  • Journal Title: Electronic Journal of Statistics Volume: Vol.3 Pages: 1075-1082
  • Peer Reviewed
• [Presentation] Kinectを用いた動作解析システムの構築 (2011)
  • Author(s): 横田健太, 中原龍一, 有本尚也, 本田卓士, 丸茂哲平, 金澤智子, 橋詰謙三, 西田圭一郎, 築山尚司, 樫山佳美, 金谷健一, 千田益生, 尾崎敏文
  • Organizer: 第33回中国四国リハビリテーション医学研究会
  • Place of Presentation: Okayama, Japan
  • Year and Date: 2011-12-04
• [Presentation] Optimal estimation for computer vision applications (2011)
  • Author(s): K. Kanatani
  • Organizer: Winter School for Young researchers on Mathematical Aspects of Image Processing and Computer Vision
  • Place of Presentation: Sendai, Japan
  • Year and Date: 2011-11-26
• [Presentation] 超広角魚眼レンズカメラの固有値最小化法による校正 (2011)
  • Author(s): 丸茂哲平, 中村遼平, 金谷健一
  • Organizer: 第16回パターン計測シンポジウム
  • Place of Presentation: Gifu, Japan
  • Year and Date: 2011-11-05
• [Presentation] 3次元相似変換の最適化計算:ガウス・ニュートン法vs.ガウス・ヘルマート法 (2011)
  • Author(s): 本田卓士, 新妻弘崇, 金谷健一
  • Organizer: 第16回パターン計測シンポジウム
  • Place of Presentation: Gifu, Japan
  • Year and Date: 2011-11-04
• [Presentation] Optimal computation of 3-D rotation under inhomogeneous anisotropic noise (2011)
  • Author(s): H. Niitsuma and K. Kanatani
  • Organizer: 12th IAPR Conference on Machine Vision Applications
  • Place of Presentation: Nara, Japan
  • Year and Date: 2011-06-13
• [Presentation] Optimal computation of 3-D similiarity from space data with inhomogeneous noise distributions (2011)
  • Author(s): H. Niitsuma and K. Kanatani
  • Organizer: 第17回画像センシングシンポジウム
  • Place of Presentation: Yokohama, Japan
  • Year and Date: 2011-06-10
• [Presentation] Implementation and evaluation of bundle adjustment for 3-Dreconstruction (2011)
  • Author(s): K. Kanatani and Y. Sugaya
  • Organizer: 第17回画像センシングシンポジウム
  • Place of Presentation: Yokohama, Japan
  • Year and Date: 2011-06-10
• [Presentation] High accuracy calibration of ultra-wide fisheye lens camera by eigenvalue minimization (2011)
  • Author(s): R. Nakamura, T. Marumo and K. Kanatani
  • Organizer: 第17回画像センシングシンポジウム
  • Place of Presentation: Yokohama, Japan
  • Year and Date: 2011-06-10
• [Presentation] 帯状パタンによる魚眼レンズカメラの高精度な校正 (2011)
  • Author(s): 森安亮太, 中村遼平, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Osaka, Japan
  • Year and Date: 2011-05-19
• [Presentation] 不均一な誤差分布をもつ空間データからの3次元相似変換の最適計算 (2011)
  • Author(s): 原裕貴, 新妻弘崇, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Osaka, Japan
  • Year and Date: 2011-05-19
• [Presentation] 不均一な誤差分布をもつ空間データからの3次元回転の最適計算 (2011)
  • Author(s): 原裕貴, 新妻弘崇, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Kusatsu, Shiga, Japan
  • Year and Date: 2011-01-20
• [Presentation] 3次元復元のためのバンドル調整の実装とその評価 (2011)
  • Author(s): 岩元祐輝, 菅谷保之, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Kusatsu, Shiga, Japan
  • Year and Date: 2011-01-20
• [Presentation] Hyperaccurate least squares and its applications (2010)
  • Author(s): K. Kanatani
  • Organizer: Symposium on Mathematical Aspects of Image Processing and Computer Vision
  • Place of Presentation: Sapporo, Japan
  • Year and Date: 2010-11-25
• [Presentation] Optimal two-view planar scene triangulation (2010)
  • Author(s): K. Kanatani and H. Niitsuma
  • Organizer: 10th Asian Conference on Computer vision
  • Place of Presentation: Queenstown, New Zealand
  • Year and Date: 2010-11-10
• [Presentation] Hyperaccurate least squares and its applications (2010)
  • Author(s): K. Kanatani
  • Organizer: International Conference on Modern Stochastics : Theory and Applications II
  • Place of Presentation: Kiev, Ukraine
  • Year and Date: 2010-09-09
• [Presentation] Hyper least squares and its applications (2010)
  • Author(s): P. Rangarajan, K. Kanatani, H. Niitsuma and Y. Sugaya
  • Organizer: 20th International Conference on Pattern Recognition
  • Place of Presentation: Istanbul, Turkey
  • Year and Date: 2010-08-23
• [Presentation] High accuracy homography computation without iterations (2010)
  • Author(s): H. Niitsuma, P. Rangarajan and K. Kanatani
  • Organizer: 第16回画像センシングシンポジウム
  • Place of Presentation: Yokohama, Japan
  • Year and Date: 2010-06-10
• [Presentation] Improved multistage learning for multibody segmentation (2010)
  • Author(s): Y. Sugaya and K. Kanatani
  • Organizer: 5th International Conference on Computer Vision Theory and Applications
  • Place of Presentation: Angers, France
  • Year and Date: 2010-05-19
• [Presentation] Hyperaccurate algebraic ellipse fitting without iterations (2010)
  • Author(s): K. Kanatani and P. Rangarajan
  • Organizer: Proceedings of the 5th International Conference on Computer Vision Theory and Applications
  • Place of Presentation: Angers, France
  • Year and Date: 2010-05-18
• [Presentation] 平面シーンの最適三角測量 (2010)
  • Author(s): 矢野直樹, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2010-03-19
• [Presentation] 超精度最小二乗法とその応用 (2010)
  • Author(s): 金谷健一, プラサンナ・ランガラヤン, 菅谷保之, 新妻弘崇
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2010-03-18
• [Presentation] 反復を要しない射影変換の高精度解法 (2010)
  • Author(s): 新妻弘崇, プラサンナ・ランガラヤン, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Kyoto, Japan
  • Year and Date: 2010-01-11
• [Presentation] 最適な射影変換の新しい計算アルゴリズム (2009)
  • Author(s): 新妻弘崇, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Kanazawa, Japan
  • Year and Date: 2009-11-17
• [Presentation] 画像からの3次元復元の最新アルゴリズム (2009)
  • Author(s): 山田健人, 金澤靖, 金谷健一, 菅谷保之
  • Organizer: コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Sendai, Japan
  • Year and Date: 2009-09-01
• [Presentation] 楕円当てはめの超精度最小二乗法 (2009)
  • Author(s): 岩元祐輝, プラサンナ・ランガラヤン, 金谷健一
  • Organizer: コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Sendai, Japan
  • Year and Date: 2009-09-01
• [Presentation] 一般主成分分析による複数運動分離の多段階最適化 (2009)
  • Author(s): 田中慎也, 田中勇桂, 原裕貴, 菅谷保之, 金谷健一
  • Organizer: コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Sendai, Japan
  • Year and Date: 2009-08-31
• [Presentation] 3次元相似変換の最適化計算:ガウス・ニュートン法vs.ガウス・ヘルマート法 (0)
  • Author(s): 本田卓士, 新妻弘崇, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Tsukuba, Japan
  • Year and Date: 00001117
• [Presentation] 幾何学的推定のための最適化手法:最小化を越えて (0)
  • Author(s): 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 00000316
• [Presentation] 基礎行列と射影変換の計算精度の比較:最小二乗法から超精度くりこみ法まで (0)
  • Author(s): 菅谷保之, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 00000316
• [Presentation] 精度くりこみ法:複数拘束 (0)
  • Author(s): 金谷健一, アリ・アルシャラドカー, ニコライ・チェルノフ, 菅谷保之
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 00000316
• [Presentation] 楕円当てはめの精度比較:最小二乗法から超精度くりこみ法まで (0)
  • Author(s): 横田健太, 村田和洋, 菅谷保之, 金谷健一
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Osaka, Japan
  • Year and Date: 00000120
• [Presentation] 超精度くりこみ法 (0)
  • Author(s): 金谷健一, アリ・アルシャラドカー, ニコライ・チェルノフ, 菅谷保之
  • Organizer: 情報処理学会コンピュータビジョンとイメージメディア研究会
  • Place of Presentation: Osaka, Japan
  • Year and Date: 00000120
• [Book] 理数系のための技術英語練習帳-さらなる上達を目指して- (2012)
  • Author(s): 金谷健一
  • Total Pages: 265
  • Publisher: 共立
• [Remarks]
  • URL: http://www.suri.cs.okayama-u.ac.jp/~kanatani/j/