Learning-based camera pose estimation

2013 Fiscal Year Final Research Report

• Project/Area Number: 23700211
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Hiroshima University
• Principal Investigator: TAMAKI Toru 広島大学, 工学(系)研究科(研究院), 准教授 (10333494)
• Project Period (FY): 2011 – 2013
• Keywords: コンピュータビジョン / 姿勢推定 / 3次元シーン / カメラ姿勢 / 変化検出

Research Abstract

Pose estimation of a camera is estimating the location where the picture is taken and to which direction the camera is pointing to, and it has a variety of applications. In this project we have developed methods for camera pose estimation from images as well as 3D scenes reconstructed from images: one approach matches 2D information of images with 3D information of 3D scenes to estimate camera pose, and the other approach find alignments between known and current 3D scenes even when severe changes and nonrigid deformation are involved.

Research Products

• [Journal Article] 3D Keypoints Detection from a 3D Point Cloud for Real-Time Camera Tracking (2013)
  • Author(s): Baowei Lin, Toru Tamaki, Marcos Slomp, Bisser Raytchev, Kazufumi Kaneda, Koji Ichii
  • Journal Title: IEEJ Transactions on Electronics, Information and Systems Volume: Vol.133, No.1 Pages: 84-90
  • URL: https://www.jstage.jst.go.jp/article/ieejeiss/133/1/133_84/_article
  • Peer Reviewed
• [Journal Article] Image Based Detection of 3D Scene Change (2013)
  • Author(s): Baowei Lin, Yuji Ueno, Kouhei Sakai, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda, Koji Ichii
  • Journal Title: IEEJ Transactions on Electronics, Information and Systems Volume: Vol.133, No.1 Pages: 103-110
  • URL: https://www.jstage.jst.go.jp/article/ieejeiss/133/1/133_103/_article
  • Peer Reviewed
• [Journal Article] Semi-Rigid Registration of 3D points (2013)
  • Author(s): Baowei Lin, Kouhei Sakai, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda, Koji Ichii
  • Journal Title: Journal of Signal and Information Processing Volume: Vol.4, No.3B Pages: ISSN:2159-4465
  • DOI: 10.4236/jsip.2013.43B005
  • URL: http://www.scirp.org/journal/PaperInformation.aspx?PaperID=38045#.U17qq16F6_o
• [Journal Article] Development of a Client-Server System for 3D Scene Change Detection (2013)
  • Author(s): Haoming Wang, Baowei Lin, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda, Koji Ichii
  • Journal Title: Journal of Software Engineering and Applications Volume: Vol.6, No.7B Pages: ISSN:1945-3116
  • DOI: 10.4236/jsea.2013.67B004
  • URL: http://www.scirp.org/journal/PaperInformation.aspx?PaperID=38430
• [Presentation] Scale invariant descriptor with border points of 3D point clouds (2014)
  • Author(s): Fangda Zhao, Baowei Lin, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda
  • Organizer: The 20th Korea-Japan Workshop on Frontiers of Computer Vision (FCV2014)
  • Place of Presentation: Okinawa National College of Technology, Okinawa, Japan
  • Year and Date: 20140204-06
• [Presentation] Object Pose Estimation by Locally Linearly Embedded Regression (2013)
  • Author(s): Bisser Raytchev, Kazuya Terakado, Toru Tamaki, and Kazufumi Kaneda
  • Organizer: Springer Lecture Notes in Computer Science LNCS 8228, Part III, 20th International Conference on Neural Information Processing (ICONIP 2013), pp.458-468
  • Place of Presentation: EXCO, Daegu, Korea(DOI:10.1007/978-3-642-42051-1_57)
  • Year and Date: 20131103-07
• [Presentation] Scale ratio ICP for 3D point clouds with different scales (2013)
  • Author(s): Baowei Lin, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda, Koji Ichii
  • Organizer: 2013 IEEE International Conference on Image Processing (ICIP2013)
  • Place of Presentation: Melbourne Convention and Exhibition Centre, Melbourne, Australia
  • Year and Date: 20130915-18
• [Presentation] Semi-Rigid Registration of 3D points (2013)
  • Author(s): Baowei Lin, Kouhei Sakai, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda, Koji Ichii
  • Organizer: International Conference on Signal and Image Processing (CSIP 2013)
  • Place of Presentation: Beijing Yanshan Hotel, Beijing, China
  • Year and Date: 20130714-16
• [Presentation] Development of a Client-Server System for 3D Scene Change Detection (2013)
  • Author(s): Haoming Wang, Baowei Lin, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda, Koji Ichii
  • Organizer: The 5th International Conference on Computational Intelligence and Software Engineering (CiSE 2013)
  • Place of Presentation: Beijing Yanshan Hotel, Beijing, China
  • Year and Date: 20130714-16
• [Presentation] 配置情報のエネルギー最小化に基づく3次元点群の位置合わせ (2013)
  • Author(s): 境耕平, 林宝尉, 玉木徹, 金田和文, Bisser Raytchev, 一井康二
  • Organizer: 第19回画像センシングシンポジウム SSII2013
  • Place of Presentation: パシフィコ横浜, 神奈川
  • Year and Date: 20130612-14
• [Presentation] Scale Invariant Point Feature for 3D Object Detection (2013)
  • Author(s): Fangda Zhao, Baowei Lin, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda
  • Organizer: 平成25年度(第64回)電気・情報関連学会中国支部連合大会
  • Place of Presentation: 岡山大学, 岡山
  • Year and Date: 2013-10-19
• [Presentation] Linear Discriminative Image Processing Operator Analysis (2012)
  • Author(s): Toru Tamaki, Bingzhi Yuan, Kengo Harada, Bisser Raytchev, Kazufumi Kaneda
  • Organizer: Proc. of IEEE Conference on Computer Vision and Pattern Recognition (CVPR2012), pp.2526-2532
  • Place of Presentation: Providence Convention Center, Providence, Rhode Island, USA
  • Year and Date: 20120616-21
• [Presentation] Estimating the spin of a table tennis ball using inverse compositional image alignment (2012)
  • Author(s): Toru Tamaki, Haoming Wang, Bisser Raytchev, Kazufumi Kaneda, Yukihiko Ushiyama
  • Organizer: Proc. of ICASSP 2012 ; 2012 IEEE International Conference on Acoustics, Speech, and Signal Processing,pp.1457-1460
  • Place of Presentation: Kyoto International Conference Center ,Kyoto, Japan
  • Year and Date: 20120325-30
• [Presentation] 3D Keypoint Detection by Embedding 2D Features for 3D-2D Matching (2012)
  • Author(s): Toru Tamaki, Yuji Ueno, Shunsuke Tanigawa, Bisser Raytchev, Kazufumi Kaneda
  • Organizer: FCV2012, 18th Korea-Japan Joint Workshop on Frontiers of Computer Vision, pp.62-65
  • Place of Presentation: Kawasaki International Center,Kanagawa, Japan
  • Year and Date: 20120202-04
• [Presentation] Camera Position Estimation for Detecting 3D Scene Change (2012)
  • Author(s): Yuji Ueno, Baowei Lin, Kouhei Sakai, Toru Tamaki, Bisser Raytchev, Kazufumi Kaneda
  • Organizer: FCV2012, 18th Korea-Japan Joint Workshop on Frontiers of Computer Vision, pp.344-350
  • Place of Presentation: Kawasaki International Center, Kanagawa, Japan
  • Year and Date: 20120202-04
• [Presentation] A method for measuring ball spin (2012)
  • Author(s): H. Wang, T. Tamaki, B. Raytchev, K. Kaneda, Y. Ushiyama
  • Organizer: The 15th SANKEN International Symposium, pp.112-113
  • Place of Presentation: Osaka University, Osaka, Japan
  • Year and Date: 20120112-13
• [Presentation] Realtime detection of change in a 3D scene (2012)
  • Author(s): K. Sakai, Y. Ueno, L. Baowei, T. Tamaki, B. Raytchev, K. Kaneda
  • Organizer: The 15th SANKEN International Symposium, pp.116-117
  • Place of Presentation: Osaka University, Osaka, Japan
  • Year and Date: 20120112-13
• [Presentation] POSE ESTIMATION BY LOCAL PROCRUSTES REGRESSION (2011)
  • Author(s): Bisser Raytchev, Kazuya, Toru Tamaki and Kazufumi Kaneda
  • Organizer: Proc. of ICIP2011 ; The International Conference on Image Processing, pp.3646-3649
  • Place of Presentation: the Square Brussels Meeting Center, Belguim
  • Year and Date: 20110911-14
• [Presentation] 3次元点群における変化のリアルタイム検出 (2011)
  • Author(s): 境耕平, 植野祐司, 林宝尉, 玉木徹, Bisser Raytchev, 金田和文
  • Organizer: MIRU2011 画像の認識・理解シンポジウム論文集, pp.1697-1698
  • Place of Presentation: 金沢市文化ホール, 石川
  • Year and Date: 20110720-22
• [Presentation] Procrustes Analysisを用いた姿勢推定 (2011)
  • Author(s): 寺門和哉, Bisser Raytchev, 玉木徹, 金田和文
  • Organizer: MIRU2011 画像の認識・理解シンポジウム論文集, pp.753-756
  • Place of Presentation: 金沢市文化ホール, 石川
  • Year and Date: 20110720-22
• [Presentation] Inverse Composite Alignment of a sphere under orthogonal projection for ball spin estimation (2011)
  • Author(s): Tamaki Toru, Yukihiko Ushiyama, Bisser Raytchev, Kazufumi Kaneda
  • Organizer: 情報処理学会研究報告, コンピュータビジョンとイメージメディア, Vol.2011-CVIM-178, No.13, pp.1-5
  • Place of Presentation: 公立はこだて未来大学, 函館市, 北海道
  • Year and Date: 2011-08-29
• [Presentation] 2D-3Dマッチングを用いた3次元点群の時間的な剛体変化検出 (2011)
  • Author(s): 植野祐司, 玉木徹, Bisser Raytchev, 金田和文
  • 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 PRMU2011-43, Vol.111, No.76, pp.67-72
  • Place of Presentation: 慶應大学, 神奈川
  • Year and Date: 2011-05-30
• [Remarks]
  • URL: http://home.hiroshima-u.ac.jp/tamaki/