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Construction of fast and compact range image sensors using multiple laser lights and their applications

Research Project

Project/Area Number 26330205
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Perceptual information processing
Research InstitutionChuo University

Principal Investigator

UMEDA Kazunori  中央大学, 理工学部, 教授 (10266273)

Co-Investigator(Kenkyū-buntansha) 増山 岳人  名城大学, 理工学部, 准教授 (20707088)
Project Period (FY) 2014-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2014: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywords距離画像センサ / マルチスリットレーザ / アクティブステレオ / 三次元マッピング / 高速ビジョン / オプティカルフロー / 勾配拘束 / ぼけ
Outline of Final Research Achievements

Fast and compact range image sensors are constructed that use a laser projector that projects multiple laser lights such as slit lights and their applications are presented. Following contributions have been achieved. (1) A range image sensor with multiple slit lights is constructed that can obtain color texture simultaneously. (2) Methods for fast online three-dimensional mapping are proposed by utilizing gradient constraint between continuous range / color images or optical flows between color images. (3) Compact range image sensors that are small enough to be mounted on a robot hand and can measure small distances by using blur of images of projected slit lights are constructed.

Report

(5 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • 2014 Research-status Report

Research Products

(25 results)

All 2017 2016 2015 2014 Other

All Int'l Joint Research (1 results) Journal Article (2 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results,  Acknowledgement Compliant: 1 results) Presentation (18 results) (of which Int'l Joint Research: 6 results,  Invited: 1 results) Book (1 results) Remarks (3 results)

  • [Int'l Joint Research] UBiQelife Technology Corporation(台湾)

    • Related Report
      2017 Annual Research Report
  • [Journal Article] 距離画像計測手法の概要とその動向2017

    • Author(s)
      梅田 和昇
    • Journal Title

      自動化推進

      Volume: 46 Pages: 2-5

    • Related Report
      2017 Annual Research Report
  • [Journal Article] Three-dimensional mapping by direct estimation of small motion using range and color images2016

    • Author(s)
      野﨑 慎太,増山 岳人,梅田 和昇
    • Journal Title

      Transactions of the JSME (in Japanese)

      Volume: Vol.82, No.834 Issue: 834 Pages: 15-00367-15-00367

    • DOI

      10.1299/transjsme.15-00367

    • NAID

      130005129115

    • ISSN
      2187-9761
    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Presentation] マルチスリットレーザプロジェクタを利用した距離画像センサを用いた微小運動の直接推定による三次元地図生成2017

    • Author(s)
      木村 優志,増山 岳人,梅田 和昇
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2017
    • Place of Presentation
      ビッグパレットふくしま
    • Year and Date
      2017-05-10
    • Related Report
      2016 Research-status Report
  • [Presentation] マルチスリットレーザプロジェクタを用いた小型距離画像センサにおけるスリット像のボケを利用した距離画像計測2017

    • Author(s)
      徳王 耀介,木村 優志,増山 岳人,梅田 和昇
    • Organizer
      2017年度精密工学会春季大会学術講演会
    • Place of Presentation
      慶應義塾大学矢上キャンパス
    • Year and Date
      2017-03-13
    • Related Report
      2016 Research-status Report
  • [Presentation] マルチスリットレーザプロジェクタを利用した距離画像センサを用いた微小運動の直接推定による三次元地図生成2017

    • Author(s)
      木村優志,増山岳人,梅田和昇
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2017講演論文集
    • Related Report
      2017 Annual Research Report
  • [Presentation] Three-dimensional mapping by direct estimation of a small motion using range images and optical flow of color images2016

    • Author(s)
      Masashi Kimura, Gakuto Masuyama, Kazunori Umeda
    • Organizer
      2016 IEEE/SICE International Symposium on System Integration (SII2016)
    • Place of Presentation
      Sapporo Convention Center
    • Year and Date
      2016-12-13
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development of Compact Range Image Sensor with Multi-Slit Laser Projector that Uses Disparity and Blur2016

    • Author(s)
      Yi Feng, Ayase Itagaki, Gakuto Masuyama, Kazunori Umeda
    • Organizer
      16th International Conference on Precision Engineering (ICPE2016)
    • Place of Presentation
      ACT CITY HAMAMATSU
    • Year and Date
      2016-11-14
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development of Compact Range Image Sensor with Multi-Slit Laser Projector that Uses Disparity and Blur2016

    • Author(s)
      Yi Feng, Ayase Itagaki, Gakuto Masuyama, Kazunori Umeda
    • Organizer
      16th International Conference on Precision Engineering (ICPE2016)
    • Place of Presentation
      Hamamatsu
    • Year and Date
      2016-11-14
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] High-speed Three-dimensional Mapping by Direct Estimation of a Small Motion Using Range Images2016

    • Author(s)
      Shinta Nozaki, Masashi Kimura, Gakuto Masuyama and Kazunori Umeda
    • Organizer
      11th France-Japan and 9th Europe-Asia Congress on Mechatronics / 17th International Conference on Research and Education in Mechatronics
    • Place of Presentation
      Universite de Technologie de Compiegne
    • Year and Date
      2016-06-15
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] High-speed Three-dimensional Mapping by Direct Estimation of a Small Motion Using Range Images2016

    • Author(s)
      Shinta Nozaki, Masashi Kimura, Gakuto Masuyama and Kazunori Umeda
    • Organizer
      11th France-Japan and 9th Europe-Asia Congress on Mechatronics / 17th International Conference on Research and Education in Mechatronics
    • Place of Presentation
      University de Technologie de Compiegne
    • Year and Date
      2016-06-15
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] マルチスリット光を用いたカラーテクスチャ取得可能な小型距離画像センサの構築2016

    • Author(s)
      板垣 文瀬,木村 優志,増山 岳人,梅田 和昇
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2016
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2016-06-09
    • Related Report
      2016 Research-status Report 2015 Research-status Report
  • [Presentation] スリット像のぼけの計測と視差計測とを組み合わせたマルチスリットレーザプロジェクタを用いた小型距離画像センサの構築2016

    • Author(s)
      馮 益,木村 優志,増山 岳人,梅田 和昇
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2016
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2016-06-09
    • Related Report
      2016 Research-status Report 2015 Research-status Report
  • [Presentation] 視差とぼけ計測とを組み合わせたマルチスリットレーザプロジェクタを用いた距離計測センサの構築2016

    • Author(s)
      馮 益,増山 岳人,梅田 和昇
    • Organizer
      2016年度精密工学会春季大会学術講演会
    • Place of Presentation
      東京理科大学野田キャンパス
    • Year and Date
      2016-03-15
    • Related Report
      2015 Research-status Report
  • [Presentation] カラー画像のエッジ情報を利用した距離情報からの三次元地図生成2015

    • Author(s)
      木村 優志,増山 岳人,梅田 和昇
    • Organizer
      第16回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      名古屋国際会議場
    • Year and Date
      2015-12-14
    • Related Report
      2015 Research-status Report
  • [Presentation] Development of Miniature Range Image Sensor Using Multi-Slit Laser Projector and Endoscopy Camera2015

    • Author(s)
      Yi Feng, Shinta Nozaki, Gakuto Masuyama, Kazunori Umeda
    • Organizer
      6th International Conference on Advanced Mechatronics (ICAM2015)
    • Place of Presentation
      Nishi-Waseda Campus, Waseda University
    • Year and Date
      2015-12-06
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] カラー画像のオプティカルフローと距離画像を用いた微小運動の直接推定による三次元地図生成2015

    • Author(s)
      木村 優志,野﨑 慎太,増山 岳人,梅田 和昇
    • Organizer
      精密工学会画像応用技術専門委員会サマーセミナー2015
    • Place of Presentation
      熱川温泉 熱川ハイツ
    • Year and Date
      2015-08-24
    • Related Report
      2015 Research-status Report
  • [Presentation] マルチスリットレーザプロジェクタと内視鏡用カメラを組み合わせた超小型距離画像センサの構築2015

    • Author(s)
      馮 益,野﨑 慎太,増山 岳人,梅田 和昇
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      京都市勧業館「みやこめっせ」
    • Year and Date
      2015-05-18
    • Related Report
      2015 Research-status Report 2014 Research-status Report
  • [Presentation] 距離画像とカラー画像を用いた微小運動の直接推定による三次元地図生成2015

    • Author(s)
      野崎慎太
    • Organizer
      第20回ロボティクスシンポジア
    • Place of Presentation
      軽井沢プリンスホテルウエスト
    • Year and Date
      2015-03-15
    • Related Report
      2014 Research-status Report
  • [Presentation] 距離濃淡画像を用いた微小運動の直接推定による高速三次元地図生成2014

    • Author(s)
      野崎慎太
    • Organizer
      第32回日本ロボット学会学術講演会
    • Place of Presentation
      九州産業大学
    • Year and Date
      2014-09-04
    • Related Report
      2014 Research-status Report
  • [Presentation] 3次元画像計測の基礎とその応用2014

    • Author(s)
      梅田和昇
    • Organizer
      精密工学会生産自動化専門委員会研究例会
    • Place of Presentation
      中央大学後楽園キャンパス
    • Year and Date
      2014-07-11
    • Related Report
      2014 Research-status Report
    • Invited
  • [Book] 三次元画像センシングの新展開-リアルタイム・高精度に向けた要素技術から産業応用まで2015

    • Author(s)
      岩堀 祐之監修
    • Total Pages
      358
    • Publisher
      エヌ・ティー・エス
    • Related Report
      2015 Research-status Report
  • [Remarks] 中央大学 梅田研究室

    • URL

      http://www.mech.chuo-u.ac.jp/umedalab/

    • Related Report
      2017 Annual Research Report 2015 Research-status Report
  • [Remarks]

    • URL

      http://www.mech.chuo-u.ac.jp/umedalab/

    • Related Report
      2016 Research-status Report
  • [Remarks] 中央大学梅田研究室ホームページ

    • URL

      http://www.mech.chuo-u.ac.jp/umedalab/

    • Related Report
      2014 Research-status Report

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Published: 2014-04-04   Modified: 2022-08-18  

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