IP IIS Construction of Overhead View Images by Estimating Intrinsic and Extrinsic Camera Parameters of Multiple Fish-Eye Cameras Shota Kas
|
|
- みちしげ ちづ
- 5 years ago
- Views:
Transcription
1 I-08- IIS-08- Construction of Overead View Images by Estimating Intrinsic and Extrinsic Camera arameters of Multiple Fis-Eye Cameras Sota Kase, Ryota Okutsu, Hisanori Mitsumoto (Cuo University) Yoei Aragaki, Noriko Simomura (Nissan Motor Co.,Ltd.) Kenji Terabayasi, Kazunori Umeda (Cuo University) Abstract In recent years, active safety tecnologies of cars are becoming important and te cases tat cameras are mounted in cars are increasing. Since te perception of te distance of a usual image is difficult for drivers, metod to construct overead view images and assist drivers are proposed. In tis paper, we propose metods for estimating camera parameters of multiple cameras and construct overead view images wit small errors. Effectiveness of te metods is examined by experiments. (overead view images, fis-eye lens, wide-angle lens, camera calibration, camera paramater ).,., ( ), ()., () ().,,.,,., () (), () (8),,.,.,,..,, ()r f [pixel], (9).,. r f δ ( ) () r f δ sin ( ) () Optical δ rojection plane p Image rp (a) erspective projection Fig.. Optical ' δ rojection plane p p' Image (b) Fis-eye Difference of projection r f δ tan(/) ( ) () r f δ sin(/) ( ) () δ f/w, f : [mm], w : [mm],, r p δ tan ( ) ()..,, p.,, p. rf,, () ()., (8),. /
2 () (),, sin tan. sin, tan. (0) r f k + k + k + k + k (). k, k, k, k, k (radial distortion)., (Sift of optical ). (, ) m f [ v f ] T., c [c u c v ] T., c m f mf, m f v f γ 0 0 c u v f c v ()., γ, v f., CCD, γ. (), r f q + v f φ arctan v f.! (8),. (),. (), I [k k k k k c u c v] T (9)..,., (, ).,.,.,. Zw Zw Yw Yw ' k Normalized perspective projection image yp δp Fig.. xp Fis-eye image xp vf c φ φ uf erspective projection image vp mp mf mi ui up Coordinate systems Xi Zi Yi vi Overead view image δi, m p [u p v p ] T, m f [ v f ] T., r p δ p tan (0)., q r p u p + vp (). (0), (), p! u p + vp arctan (m p) () δ p, m p., c [c u c v ] T φ r f r p u p + c u, v f r f r p v p + c v (). (), (), (), () m f v f r f (m p ) p u p + v p u p + c u r f (m p ) p u p + v p v p + c v /
3 F u (m p, I) F v (m p, I) (), m f m p., m i [u i v i] T, m p [u p v p] T.,.,, Y p, X p Z p.,, Z w.,,,, m p X p u p v p X p Y p Z p, x p x p y p,, X w., Y w Z w m p A p x p ()., A p. δ p 0 c pu A p 0 δ p c pv () 0 0,, c p [c pu c pv ] T 0.,, x p [J 0] X p X p () , X p p M w (8)., p M w. () (8),, m p A p [J 0] p M w p (9) φ s (a) oint Fig.. n Spere model s (b) Line (). p,. p i p i, Z w 0, (9) s X w i Y w m p p p p p p 0 i p p p X w Y w s H p x w (0), H p., m i [u i v i ] T m i H i x w (), (0), () m p H ph i m i (), m p m i.,,.,.,,..,, (8). (a), φ i T s sin cos φ cos sin sin φ ()., (b) /
4 s, s i T n n x n y n z (). (), () n s n x sin cos φ + n y cos + n z sin sin φ 0 (). ξ i LX X l (n l s i) () l i I., L, l l., Gauss- Newton. m fi [i v fi ] T, () Brent (), (). s i. n, s, s, n s s s s () (, s s 0). n l, n l µ µx k s k s k s k s k (8). µ,, s k, s k, k., i m fi [i v fi ] T X wi [X wi Y wi Z wi ] T. cam, α cam, β cam., [X cam, Y cam, Z cam ] T,,, E [X cam Y cam Z cam cam α cam β cam] T (9), (8) p M w. X wi m wi, (), (9) m wi m wi (E, X wi ) (0) E, X wi. ξ e NX {m fi m wi (E, X wi )} () i E. N., Gauss-Newton.,,. Yw Zw Fig.. Camera Camera Camera Camera World Coordinate system and camera position (0), I m wi m wi (E, I, X wi ) ()., I, E NX ξ c {m fi m wi (E, I, X wi )} () i,..,.,,.,,. CCD oint Grey Researc Dragonfly, TVM. TVM., 0[pixel] 8[pixel], [pixel] 8[pixel].., cam. cam, Y w 0[deg]. α cam, 0[deg],. Z w 00[mm].,,..,,. Camera, /
5 (a) Camera (a) Witout optimazation (b) Camera Fig.. Fis-eye images., α cam 0[deg]., β cam 0[deg]. (a), (b).,.,. k, k Camera.. (a) k, k (b) k, k. Camera. α cam 0[deg]. 8.. (b) Wit optimazation Fig.. Effect of simultaneous optimazation Table. camera parameters of camera X cam [mm] Y cam [mm] Z cam [mm] α cam [deg] cam [deg] β cam [deg] k k k k k c u c v ,,,.,.. /
6 (a) Witout k, k (b) Wit k, k Fig. 8. Fig.. Effect of Fis-eye camera model cange 8 overead view after integration of four images,,,. K.Asari,Y.Isii,H.Hongo,and H.Kano: A racticable Calibration Metod for Top View Image Generation, SSII0,IN- (00) :,, IN- (00) K. Oizumi: Development of All-Around View System, Sae Tecnical aper Series (00) M.Suzuki,S.Cinomi,and T.Takano: Development of Around View System, JSAE roceedings, No.-0, pp.-(00) :,, No.-0, pp.-(00) :,, pp.-8, (999) Z. Zang: A Flexible New Tecnique for Camera Calibration, IEEE Transcations on attern Analysis and Macine Intelligence, Vol., No., pp.0- (000) H.Komagata,I.Isii,A.Takaasi,and D.Wakatsuki: A Geometric Calibration Metod of Internal Camera arameter for Fis-Eye Lenses, IEICE D-II, Vol.J89-D- II, No., pp.-(00) :, D-II, Vol.J89-D-II, No., pp.-(00) M.Nakano,S.Li,and N.Ciba: Calibrating of Fiseye Camera for Aquisition of Sperical Image, IEICE D- II, Vol.J88-D-II, No.9, pp.8-8(00) :, D-II, Vol.J88- D-II, No.9, pp.8-8(00) 8 M.Nakano,S.Li,and N.Ciba: Calibrating Fiseye Camera by Stripe attern Based upon Sperical Model, IEICE D, Vol.J90-D, No., pp.-8(00) :, D, Vol.J90-D, No., pp.-8(00) 9 :, industrial, pp.-0, (00) 0 S.Kase,H.Mitsumoto,Y.Aragaki,N.Simomura,and K.Umeda: A Metod to Construct Overead View Images Using Multiple Fis-Eye Cameras, JSME ROBOMEC,Nagano(008) :,, (008) :, (CG-ARTS ), (00) W.H. ress,s.a. Teukolsky,W.T.Vetterling,and B.. Flanery ( ),,,, ( ): Numerical Recipes in C,, pp.-, (99) /
xx/xx Vol. Jxx A No. xx 1 Fig. 1 PAL(Panoramic Annular Lens) PAL(Panoramic Annular Lens) PAL (2) PAL PAL 2 PAL 3 2 PAL 1 PAL 3 PAL PAL 2. 1 PAL
PAL On the Precision of 3D Measurement by Stereo PAL Images Hiroyuki HASE,HirofumiKAWAI,FrankEKPAR, Masaaki YONEDA,andJien KATO PAL 3 PAL Panoramic Annular Lens 1985 Greguss PAL 1 PAL PAL 2 3 2 PAL DP
More information24 21 21115025 i 1 1 2 5 2.1.................................. 6 2.1.1........................... 6 2.1.2........................... 7 2.2...................................... 8 2.3............................
More information28 Horizontal angle correction using straight line detection in an equirectangular image
28 Horizontal angle correction using straight line detection in an equirectangular image 1170283 2017 3 1 2 i Abstract Horizontal angle correction using straight line detection in an equirectangular image
More information2.2 h h l L h L = l cot h (1) (1) L l L l l = L tan h (2) (2) L l 2 l 3 h 2.3 a h a h (a, h)
1 16 10 5 1 2 2.1 a a a 1 1 1 2.2 h h l L h L = l cot h (1) (1) L l L l l = L tan h (2) (2) L l 2 l 3 h 2.3 a h a h (a, h) 4 2 3 4 2 5 2.4 x y (x,y) l a x = l cot h cos a, (3) y = l cot h sin a (4) h a
More information2003/3 Vol. J86 D II No.3 2.3. 4. 5. 6. 2. 1 1 Fig. 1 An exterior view of eye scanner. CCD [7] 640 480 1 CCD PC USB PC 2 334 PC USB RS-232C PC 3 2.1 2
Curved Document Imaging with Eye Scanner Toshiyuki AMANO, Tsutomu ABE, Osamu NISHIKAWA, Tetsuo IYODA, and Yukio SATO 1. Shape From Shading SFS [1] [2] 3 2 Department of Electrical and Computer Engineering,
More informationVRSJ-SIG-MR_okada_79dce8c8.pdf
THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE. 630-0192 8916-5 E-mail: {kaduya-o,takafumi-t,goshiro,uranishi,miyazaki,kato}@is.naist.jp,.,,.,,,.,,., CG.,,,
More information光学
Range Image Sensors Using Active Stereo Methods Kazunori UMEDA and Kenji TERABAYASHI Active stereo methods, which include the traditional light-section method and the talked-about Kinect sensor, are typical
More information258 5) GPS 1 GPS 6) GPS DP 7) 8) 10) GPS GPS 2 3 4 5 2. 2.1 3 1) GPS Global Positioning System
Vol. 52 No. 1 257 268 (Jan. 2011) 1 2, 1 1 measurement. In this paper, a dynamic road map making system is proposed. The proposition system uses probe-cars which has an in-vehicle camera and a GPS receiver.
More informationIPSJ SIG Technical Report Vol.2015-CVIM-196 No /3/6 1,a) 1,b) 1,c) U,,,, The Camera Position Alignment on a Gimbal Head for Fixed Viewpoint Swi
1,a) 1,b) 1,c) U,,,, The Camera Position Alignment on a Gimbal Head for Fixed Viewpoint Swiveling using a Misalignment Model Abstract: When the camera sets on a gimbal head as a fixed-view-point, it is
More information& Vol.5 No (Oct. 2015) TV 1,2,a) , Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Ro
TV 1,2,a) 1 2 2015 1 26, 2015 5 21 Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Rotation Using Mobile Device Hiroyuki Kawakita 1,2,a) Toshio Nakagawa 1 Makoto Sato
More informationmain.dvi
A 1/4 1 1/ 1/1 1 9 6 (Vergence) (Convergence) (Divergence) ( ) ( ) 97 1) S. Fukushima, M. Takahashi, and H. Yoshikawa: A STUDY ON VR-BASED MUTUAL ADAPTIVE CAI SYSTEM FOR NUCLEAR POWER PLANT, Proc. of FIFTH
More information1., 1 COOKPAD 2, Web.,,,,,,.,, [1]., 5.,, [2].,,.,.,, 5, [3].,,,.,, [4], 33,.,,.,,.. 2.,, 3.., 4., 5., ,. 1.,,., 2.,. 1,,
THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE.,, 464 8601 470 0393 101 464 8601 E-mail: matsunagah@murase.m.is.nagoya-u.ac.jp, {ide,murase,hirayama}@is.nagoya-u.ac.jp,
More information29_4_5.dvi
Vol. 29 No. 4, pp.395 401, 2011 395 Optimization of Personal Distribution for Evacuation Guidance basedonvectorfield Masafumi Okada and Teruisa Ando It is an important issue to make a disaster reduction
More information1 Kinect for Windows M = [X Y Z] T M = [X Y Z ] T f (u,v) w 3.2 [11] [7] u = f X +u Z 0 δ u (X,Y,Z ) (5) v = f Y Z +v 0 δ v (X,Y,Z ) (6) w = Z +
3 3D 1,a) 1 1 Kinect (X, Y) 3D 3D 1. 2010 Microsoft Kinect for Windows SDK( (Kinect) SDK ) 3D [1], [2] [3] [4] [5] [10] 30fps [10] 3 Kinect 3 Kinect Kinect for Windows SDK 3 Microsoft 3 Kinect for Windows
More information研修コーナー
l l l l l l l l l l l α α β l µ l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l
More information4. C i k = 2 k-means C 1 i, C 2 i 5. C i x i p [ f(θ i ; x) = (2π) p 2 Vi 1 2 exp (x µ ] i) t V 1 i (x µ i ) 2 BIC BIC = 2 log L( ˆθ i ; x i C i ) + q
x-means 1 2 2 x-means, x-means k-means Bayesian Information Criterion BIC Watershed x-means Moving Object Extraction Using the Number of Clusters Determined by X-means Clustering Naoki Kubo, 1 Kousuke
More informationIPSJ SIG Technical Report Vol.2009-CVIM-169 No /11/ Stereo by the horizontal rotary movement of the upswing fisheye camera Sat
1 1 1 9 36 3 Stereo b the horiontal rotar oveent of the upswing fishee caera Satoru Yoshioto, 1 Kubo Maoru 1 an Muraoto Kenichiro 1 In this paper, the upswing fishee caera that can shoot up once the enith
More information(a) 1 (b) 3. Gilbert Pernicka[2] Treibitz Schechner[3] Narasimhan [4] Kim [5] Nayar [6] [7][8][9] 2. X X X [10] [11] L L t L s L = L t + L s
1 1 1, Extraction of Transmitted Light using Parallel High-frequency Illumination Kenichiro Tanaka 1 Yasuhiro Mukaigawa 1 Yasushi Yagi 1 Abstract: We propose a new sharpening method of transmitted scene
More information11) 13) 11),12) 13) Y c Z c Image plane Y m iy O m Z m Marker coordinate system T, d X m f O c X c Camera coordinate system 1 Coordinates and problem
1 1 1 Posture Esimation by Using 2-D Fourier Transform Yuya Ono, 1 Yoshio Iwai 1 and Hiroshi Ishiguro 1 Recently, research fields of augmented reality and robot navigation are actively investigated. Estimating
More information28 TCG SURF Card recognition using SURF in TCG play video
28 TCG SURF Card recognition using SURF in TCG play video 1170374 2017 3 2 TCG SURF TCG TCG OCG SURF Bof 20 20 30 10 1 SURF Bag of features i Abstract Card recognition using SURF in TCG play video Haruka
More information第62巻 第1号 平成24年4月/石こうを用いた木材ペレット
Bulletin of Japan Association for Fire Science and Engineering Vol. 62. No. 1 (2012) Development of Two-Dimensional Simple Simulation Model and Evaluation of Discharge Ability for Water Discharge of Firefighting
More information1. z dr er r sinθ dϕ eϕ r dθ eθ dr θ dr dθ r x 0 ϕ r sinθ dϕ r sinθ dϕ y dr dr er r dθ eθ r sinθ dϕ eϕ 2. (r, θ, φ) 2 dr 1 h r dr 1 e r h θ dθ 1 e θ h
IB IIA 1 1 r, θ, φ 1 (r, θ, φ)., r, θ, φ 0 r
More information1.500 m X Y m m m m m m m m m m m m N/ N/ ( ) qa N/ N/ 2 2
1.500 m X Y 0.200 m 0.200 m 0.200 m 0.200 m 0.200 m 0.000 m 1.200 m m 0.150 m 0.150 m m m 2 24.5 N/ 3 18.0 N/ 3 30.0 0.60 ( ) qa 50.79 N/ 2 0.0 N/ 2 20.000 20.000 15.000 15.000 X(m) Y(m) (kn/m 2 ) 10.000
More informationIHI Robust Path Planning against Position Error for UGVs in Rough Terrain Yuki DOI, Yonghoon JI, Yusuke TAMURA(University of Tokyo), Yuki IKEDA, Atsus
IHI Robust Path Planning against Position Error for UGVs in Rough Terrain Yuki DOI, Yonghoon JI, Yusuke TAMURA(University of Tokyo), Yuki IKEDA, Atsushi UMEMURA, Yoshiharu KANESHIMA, Hiroki MURAKAMI(IHI
More information28 SAS-X Proposal of Multi Device Authenticable Password Management System using SAS-X 1195074 2017 2 3 SAS-X Web ID/ ID/ Web SAS-2 SAS-X i Abstract Proposal of Multi Device Authenticable Password Management
More information1 Table 1: Identification by color of voxel Voxel Mode of expression Nothing Other 1 Orange 2 Blue 3 Yellow 4 SSL Humanoid SSL-Vision 3 3 [, 21] 8 325
社団法人人工知能学会 Japanese Society for Artificial Intelligence 人工知能学会研究会資料 JSAI Technical Report SIG-Challenge-B3 (5/5) RoboCup SSL Humanoid A Proposal and its Application of Color Voxel Server for RoboCup SSL
More information光学
Image Recognition for On-Board Cameras and Distance Measurement Using Stereo Camera Takeshi SHIMA Haruki MATONO Shinji KAKEGAWA and Tatsuhiko MONJI Active safety systems for vehicles using outside detection
More information,,.,.,,.,.,.,.,,.,..,,,, i
22 A person recognition using color information 1110372 2011 2 13 ,,.,.,,.,.,.,.,,.,..,,,, i Abstract A person recognition using color information Tatsumo HOJI Recently, for the purpose of collection of
More informationSICE東北支部研究集会資料(2004年)
219 (2004.11.05) 219-4 Development of a 3D Range Sensor Based on Equiphase Light-Section Method KUMAGAI Masaaki * *Tohoku Gakuin University : (Vision sensor), (3-D range sensor), (Light-section method),
More information25 D Effects of viewpoints of head mounted wearable 3D display on human task performance
25 D Effects of viewpoints of head mounted wearable 3D display on human task performance 1140322 2014 2 28 D HMD HMD HMD HMD 3D HMD HMD HMD HMD i Abstract Effects of viewpoints of head mounted wearable
More informationEQUIVALENT TRANSFORMATION TECHNIQUE FOR ISLANDING DETECTION METHODS OF SYNCHRONOUS GENERATOR -REACTIVE POWER PERTURBATION METHODS USING AVR OR SVC- Ju
EQUIVALENT TRANSFORMATION TECHNIQUE FOR ISLANDING DETECTION METHODS OF SYNCHRONOUS GENERATOR -REACTIVE POWER PERTURBATION METHODS USING AVR OR SVC- Jun Motohashi, Member, Takashi Ichinose, Member (Tokyo
More informationmt_4.dvi
( ) 2006 1 PI 1 1 1.1................................. 1 1.2................................... 1 2 2 2.1...................................... 2 2.1.1.......................... 2 2.1.2..............................
More information2). 3) 4) 1.2 NICTNICT DCRA Dihedral Corner Reflector micro-arraysdcra DCRA DCRA DCRA 3D DCRA PC USB PC PC ON / OFF Velleman K8055 K8055 K8055
1 1 1 2 DCRA 1. 1.1 1) 1 Tactile Interface with Air Jets for Floating Images Aya Higuchi, 1 Nomin, 1 Sandor Markon 1 and Satoshi Maekawa 2 The new optical device DCRA can display floating images in free
More information17 Proposal of an Algorithm of Image Extraction and Research on Improvement of a Man-machine Interface of Food Intake Measuring System
1. (1) ( MMI ) 2. 3. MMI Personal Computer(PC) MMI PC 1 1 2 (%) (%) 100.0 95.2 100.0 80.1 2 % 31.3% 2 PC (3 ) (2) MMI 2 ( ),,,, 49,,p531-532,2005 ( ),,,,,2005,p66-p67,2005 17 Proposal of an Algorithm of
More informationy = x x R = 0. 9, R = σ $ = y x w = x y x x w = x y α ε = + β + x x x y α ε = + β + γ x + x x x x' = / x y' = y/ x y' =
y x = α + β + ε =,, ε V( ε) = E( ε ) = σ α $ $ β w ( 0) σ = w σ σ y α x ε = + β + w w w w ε / w ( w y x α β ) = α$ $ W = yw βwxw $β = W ( W) ( W)( W) w x x w x x y y = = x W y W x y x y xw = y W = w w
More information[2] OCR [3], [4] [5] [6] [4], [7] [8], [9] 1 [10] Fig. 1 Current arrangement and size of ruby. 2 Fig. 2 Typography combined with printing
1,a) 1,b) 1,c) 2012 11 8 2012 12 18, 2013 1 27 WEB Ruby Removal Filters Using Genetic Programming for Early-modern Japanese Printed Books Taeka Awazu 1,a) Masami Takata 1,b) Kazuki Joe 1,c) Received: November
More informationIPSJ SIG Technical Report Pitman-Yor 1 1 Pitman-Yor n-gram A proposal of the melody generation method using hierarchical pitman-yor language model Aki
Pitman-Yor Pitman-Yor n-gram A proposal of the melody generation method using hierarchical pitman-yor language model Akira Shirai and Tadahiro Taniguchi Although a lot of melody generation method has been
More information光学
Received Marc 5, 00; Revised August 6, 00; Accepted Nvember, 00 0, 0365 / 3097 583 300 Optical Designing r Head Munt Display Giving Natural 3D Image Miki OKA, Masat SHIBUYA, Kazuisa MAEHARA, Sunsuke HASE
More information1 4 4 [3] SNS 5 SNS , ,000 [2] c 2013 Information Processing Society of Japan
SNS 1,a) 2 3 3 2012 3 30, 2012 10 10 SNS SNS Development of Firefighting Knowledge Succession Support SNS in Tokyo Fire Department Koutarou Ohno 1,a) Yuki Ogawa 2 Hirohiko Suwa 3 Toshizumi Ohta 3 Received:
More informationΣ A Σ B r Σ A (Σ A ): A r = [ A r A x r A y r z ] T Σ B : B r = [ B r B x r B y r z ] T A r = A x B B r x + A y B B r y + A z B B r z A r = A R B B r
3 : Σ A = O A {X A, Y A, Z A } : Σ B = O B {X B, Y B, Z B } O B : A p B X B, Y B, Z B Σ A : A x B, A y B, A z B Σ A : A p B Σ A : { A x B, A y B, A z B } A R B = [ A x A B y A B z B ] ( A R B ) T ( A R
More informationVol. 44 No. SIG 9(CVIM 7) ) 2) 1) 1 2) 3 7) 1) 2) 3 3) 4) 5) (a) (d) (g) (b) (e) (h) No Convergence? End (f) (c) Yes * ** * ** 1
Vol. 44 No. SIG 9(CVIM 7) July 2003, Robby T. Tan, 1 Estimating Illumination Position, Color and Surface Reflectance Properties from a Single Image Kenji Hara,, Robby T. Tan, Ko Nishino, Atsushi Nakazawa,
More informationdy = sin cos y cos () y () 1 y = sin 1 + c 1 e sin (3) y() () y() y( 0 ) = y 0 y 1 1. (1) d (1) y = f(, y) (4) i y y i+1 y i+1 = y( i + ) = y i
007 8 8 4 1 1.1 ( ) (partial differential equation) (ordinary differential equation) 1 dy = f(, y) (1) 1 1 y() (1) y() (, y) 1 dy = sin cos y cos () y () 1 y = sin 1 + c 1 e sin (3) 1 1 5 y() () y() y(
More informationIIC Proposal of Range Extension Control System by Drive and Regeneration Distribution Based on Efficiency Characteristic of Motors for Electric
IIC-1-19 Proposal of Range Extension Control System by Drive and Regeneration Distribution Based on Efficiency Characteristic of Motors for Electric Vehicle Toru Suzuki, Hiroshi Fujimoto (Yokohama National
More informationa) Extraction of Similarities and Differences in Human Behavior Using Singular Value Decomposition Kenichi MISHIMA, Sayaka KANATA, Hiroaki NAKANISHI a
a) Extraction of Similarities and Differences in Human Behavior Using Singular Value Decomposition Kenichi MISHIMA, Sayaka KANATA, Hiroaki NAKANISHI a), Tetsuo SAWARAGI, and Yukio HORIGUCHI 1. Johansson
More information公益社団法人日本都市計画学会都市計画論文集 Vol.53 No 年 10 月 Journal of the City Planning Institute of Japan, Vol.53 No.3, October, 2018 A queueing model for goods d
A queueing model for goods delivery service by drones In many depopulated rural districts in Japan, it as been ard to run regional retail stores and many of tem ave closed down. As te result, tere as been
More informationInput image Initialize variables Loop for period of oscillation Update height map Make shade image Change property of image Output image Change time L
1,a) 1,b) 1/f β Generation Method of Animation from Pictures with Natural Flicker Abstract: Some methods to create animation automatically from one picture have been proposed. There is a method that gives
More information23 Fig. 2: hwmodulev2 3. Reconfigurable HPC 3.1 hw/sw hw/sw hw/sw FPGA PC FPGA PC FPGA HPC FPGA FPGA hw/sw hw/sw hw- Module FPGA hwmodule hw/sw FPGA h
23 FPGA CUDA Performance Comparison of FPGA Array with CUDA on Poisson Equation (lijiang@sekine-lab.ei.tuat.ac.jp), (kazuki@sekine-lab.ei.tuat.ac.jp), (takahashi@sekine-lab.ei.tuat.ac.jp), (tamukoh@cc.tuat.ac.jp),
More information2-1-2 2-1-3 17 13 30 6 65 60% 2-2
2 2-1 2-1-1 0.3 0.3 0.1 1.0 2-1 2-1-2 2-1-3 17 13 30 6 65 60% 2-2 2-3 2-1-4 0.6 0.02 0.2 2-2 2-4 ( ) 2-5 2-6 2-7 2-8 2-9 2-10 1000lx 1 2.1 100lx 1.4 2.7 2-11 lens 2-12 2-13 2-14 2-15 2-3 2-3-1 2-16 2-13
More information29_10_05.dvi
954 Vol. 9 No. 10, pp.954 9, 011 Development of Air Hockey Robot tat Makes a Decision based on Game Situation Sakyo Matsusita and Akio Namiki Tis paper proposes a robot wic can play air ockey game wit
More informationOptical Lenses CCD Camera Laser Sheet Wind Turbine with med Diffuser Pitot Tube PC Fig.1 Experimental facility. Transparent Diffuser Double Pulsed Nd:
*1 *2 *3 PIV Measurement of Field of the Wind Turbine with a med Diffuser Kazuhiko TOSHIMITSU *4, Koutarou NISHIKAWA and Yuji OHYA *4 Department of Mechanical Engineering, Matsue National Collage of Technology,
More information(MIRU2008) HOG Histograms of Oriented Gradients (HOG)
(MIRU2008) 2008 7 HOG - - E-mail: katsu0920@me.cs.scitec.kobe-u.ac.jp, {takigu,ariki}@kobe-u.ac.jp Histograms of Oriented Gradients (HOG) HOG Shape Contexts HOG 5.5 Histograms of Oriented Gradients D Human
More information5 インチ PDP カメラ (a) (b) 1 Fig. 1 Information display. (a) f=25mm (b) f=16mm 2 UXGA Fig. 2 Examples of captured image. [3] [4] 1 [5] [7] 1 3pixel 5 1 7pi
THE INSTITUTE OF ELECTRONICS INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE. 619 289 3 5 66 851 E-mail: {j-satakeakihiro-k}@nict.go.jp {hirayamakawashimatm}@i.kyoto-u.ac.jp UXGA 3fps
More information1 1 x y = y(x) y, y,..., y (n) : n y F (x, y, y,..., y (n) ) = 0 n F (x, y, y ) = 0 1 y(x) y y = G(x, y) y, y y + p(x)y = q(x) 1 p(x) q(
1 1 y = y() y, y,..., y (n) : n y F (, y, y,..., y (n) ) = 0 n F (, y, y ) = 0 1 y() 1.1 1 y y = G(, y) 1.1.1 1 y, y y + p()y = q() 1 p() q() (q() = 0) y + p()y = 0 y y + py = 0 y y = p (log y) = p log
More informationIPSJ SIG Technical Report Vol.2012-IS-119 No /3/ Web A Multi-story e-picture Book with the Degree-of-interest Extraction Function
1 2 2 3 4 2 Web A Multi-story e-picture Book with the Degree-of-interest Extraction Function Kunimichi Shibata, 1 Masakuni Moriyama, 2 Kazuhide Yukawa, 2 Koji Ueno, 3 Kazuo Takahashi 4 and Shigeo Kaneda
More informationFig. 2 Signal plane divided into cell of DWT Fig. 1 Schematic diagram for the monitoring system
Study of Health Monitoring of Vehicle Structure by Using Feature Extraction based on Discrete Wavelet Transform Akihisa TABATA *4, Yoshio AOKI, Kazutaka ANDO and Masataka KATO Department of Precision Machinery
More information1, 2, 2, 2, 2 Recovery Motion Learning for Single-Armed Mobile Robot in Drive System s Fault Tauku ITO 1, Hitoshi KONO 2, Yusuke TAMURA 2, Atsushi YAM
1, 2, 2, 2, 2 Recovery Motion Learning for Single-Armed Mobile Robot in Drive System s Fault Tauku ITO 1, Hitoshi KONO 2, Yusuke TAMURA 2, Atsushi YAMASHITA 2 and Hajime ASAMA 2 1 Department of Precision
More informationVol.53 No (Mar. 2012) 1, 1,a) 1, 2 1 1, , Musical Interaction System Based on Stage Metaphor Seiko Myojin 1, 1,a
1, 1,a) 1, 2 1 1, 3 2 1 2011 6 17, 2011 12 16 Musical Interaction System Based on Stage Metaphor Seiko Myojin 1, 1,a) Kazuki Kanamori 1, 2 Mie Nakatani 1 Hirokazu Kato 1, 3 Sanae H. Wake 2 Shogo Nishida
More informationIPSJ SIG Technical Report Vol.2012-CG-148 No /8/29 3DCG 1,a) On rigid body animation taking into account the 3D computer graphics came
3DCG 1,a) 2 2 2 2 3 On rigid body animation taking into account the 3D computer graphics camera viewpoint Abstract: In using computer graphics for making games or motion pictures, physics simulation is
More information1 1 sin cos P (primary) S (secondly) 2 P S A sin(ω2πt + α) A ω 1 ω α V T m T m 1 100Hz m 2 36km 500Hz. 36km 1
sin cos P (primary) S (secondly) 2 P S A sin(ω2πt + α) A ω ω α 3 3 2 2V 3 33+.6T m T 5 34m Hz. 34 3.4m 2 36km 5Hz. 36km m 34 m 5 34 + m 5 33 5 =.66m 34m 34 x =.66 55Hz, 35 5 =.7 485.7Hz 2 V 5Hz.5V.5V V
More informationJFE.dvi
,, Department of Civil Engineering, Chuo University Kasuga 1-13-27, Bunkyo-ku, Tokyo 112 8551, JAPAN E-mail : atsu1005@kc.chuo-u.ac.jp E-mail : kawa@civil.chuo-u.ac.jp SATO KOGYO CO., LTD. 12-20, Nihonbashi-Honcho
More informationTable 1. Reluctance equalization design. Fig. 2. Voltage vector of LSynRM. Fig. 4. Analytical model. Table 2. Specifications of analytical models. Fig
Mover Design and Performance Analysis of Linear Synchronous Reluctance Motor with Multi-flux Barrier Masayuki Sanada, Member, Mitsutoshi Asano, Student Member, Shigeo Morimoto, Member, Yoji Takeda, Member
More informationJournal of Textile Engineering, Vol.53, No.5, pp
ORIGINAL PAPER Journal of Textile Engineering (2007), Vol.53, No.5, 203-210 2007 The Textile Machinery Society of Japan Analyzing the Path and the Tension of a Yarn under a False-twist Process Using a
More informationSobel Canny i
21 Edge Feature for Monochrome Image Retrieval 1100311 2010 3 1 3 3 2 2 7 200 Sobel Canny i Abstract Edge Feature for Monochrome Image Retrieval Naoto Suzue Content based image retrieval (CBIR) has been
More information(iii) 0 V, x V, x + 0 = x. 0. (iv) x V, y V, x + y = 0., y x, y = x. (v) 1x = x. (vii) (α + β)x = αx + βx. (viii) (αβ)x = α(βx)., V, C.,,., (1)
1. 1.1...,. 1.1.1 V, V x, y, x y x + y x + y V,, V x α, αx αx V,, (i) (viii) : x, y, z V, α, β C, (i) x + y = y + x. (ii) (x + y) + z = x + (y + z). 1 (iii) 0 V, x V, x + 0 = x. 0. (iv) x V, y V, x + y
More informationA(6, 13) B(1, 1) 65 y C 2 A(2, 1) B( 3, 2) C 66 x + 2y 1 = 0 2 A(1, 1) B(3, 0) P 67 3 A(3, 3) B(1, 2) C(4, 0) (1) ABC G (2) 3 A B C P 6
1 1 1.1 64 A6, 1) B1, 1) 65 C A, 1) B, ) C 66 + 1 = 0 A1, 1) B, 0) P 67 A, ) B1, ) C4, 0) 1) ABC G ) A B C P 64 A 1, 1) B, ) AB AB = 1) + 1) A 1, 1) 1 B, ) 1 65 66 65 C0, k) 66 1 p, p) 1 1 A B AB A 67
More information4 4 θ X θ P θ 4. 0, 405 P 0 X 405 X P 4. () 60 () 45 () 40 (4) 765 (5) 40 B 60 0 P = 90, = ( ) = X
4 4. 4.. 5 5 0 A P P P X X X X +45 45 0 45 60 70 X 60 X 0 P P 4 4 θ X θ P θ 4. 0, 405 P 0 X 405 X P 4. () 60 () 45 () 40 (4) 765 (5) 40 B 60 0 P 0 0 + 60 = 90, 0 + 60 = 750 0 + 60 ( ) = 0 90 750 0 90 0
More information2007/8 Vol. J90 D No. 8 Stauffer [7] 2 2 I 1 I 2 2 (I 1(x),I 2(x)) 2 [13] I 2 = CI 1 (C >0) (I 1,I 2) (I 1,I 2) Field Monitoring Server
a) Change Detection Using Joint Intensity Histogram Yasuyo KITA a) 2 (0 255) (I 1 (x),i 2 (x)) I 2 = CI 1 (C>0) (I 1,I 2 ) (I 1,I 2 ) 2 1. [1] 2 [2] [3] [5] [6] [8] Intelligent Systems Research Institute,
More informationO1-1 O1-2 O1-3 O1-4 O1-5 O1-6
O1-1 O1-2 O1-3 O1-4 O1-5 O1-6 O1-7 O1-8 O1-9 O1-10 O1-11 O1-12 O1-13 O1-14 O1-15 O1-16 O1-17 O1-18 O1-19 O1-20 O1-21 O1-22 O1-23 O1-24 O1-25 O1-26 O1-27 O1-28 O1-29 O1-30 O1-31 O1-32 O1-33 O1-34 O1-35
More information24 Depth scaling of binocular stereopsis by observer s own movements
24 Depth scaling of binocular stereopsis by observer s own movements 1130313 2013 3 1 3D 3D 3D 2 2 i Abstract Depth scaling of binocular stereopsis by observer s own movements It will become more usual
More information第86回日本感染症学会総会学術集会後抄録(I)
κ κ κ κ κ κ μ μ β β β γ α α β β γ α β α α α γ α β β γ μ β β μ μ α ββ β β β β β β β β β β β β β β β β β β γ β μ μ μ μμ μ μ μ μ β β μ μ μ μ μ μ μ μ μ μ μ μ μ μ β
More informationuntitled
( ) c a sin b c b c a cos a c b c a tan b a b cos sin a c b c a ccos b csin (4) Ma k Mg a (Gal) g(98gal) (Gal) a max (K-E) kh Zck.85.6. 4 Ma g a k a g k D τ f c + σ tanφ σ 3 3 /A τ f3 S S τ A σ /A σ /A
More informationI A A441 : April 15, 2013 Version : 1.1 I Kawahira, Tomoki TA (Shigehiro, Yoshida )
I013 00-1 : April 15, 013 Version : 1.1 I Kawahira, Tomoki TA (Shigehiro, Yoshida) http://www.math.nagoya-u.ac.jp/~kawahira/courses/13s-tenbou.html pdf * 4 15 4 5 13 e πi = 1 5 0 5 7 3 4 6 3 6 10 6 17
More information1 (Berry,1975) 2-6 p (S πr 2 )p πr 2 p 2πRγ p p = 2γ R (2.5).1-1 : : : : ( ).2 α, β α, β () X S = X X α X β (.1) 1 2
2005 9/8-11 2 2.2 ( 2-5) γ ( ) γ cos θ 2πr πρhr 2 g h = 2γ cos θ ρgr (2.1) γ = ρgrh (2.2) 2 cos θ θ cos θ = 1 (2.2) γ = 1 ρgrh (2.) 2 2. p p ρgh p ( ) p p = p ρgh (2.) h p p = 2γ r 1 1 (Berry,1975) 2-6
More information光学
Fundamentals of Projector-Camera Systems and Their Calibration Methods Takayuki OKATANI To make the images projected by projector s appear as desired, it is e ective and sometimes an only choice to capture
More information14 2 5
14 2 5 i ii Surface Reconstruction from Point Cloud of Human Body in Arbitrary Postures Isao MORO Abstract We propose a method for surface reconstruction from point cloud of human body in arbitrary postures.
More information1 (a) Start (b) Bank 2. 1 (c) Mold (d) Complete Fig. 1: Process of banking by excavator 2.1 Top of slope Face of slope 1 1(a) 1(b) 1(c) 2 Face of slop
Evaluation of Images for Teleoperated Excavator in Banking Yushi MORIYAMA (The University of Tokyo), Hiromitsu FUJII (The University of Tokyo), Yusuke TAMURA (The University of Tokyo), Hiroshi YAMAKAWA
More information1_26.dvi
C3PV 1,a) 2,b) 2,c) 3,d) 1,e) 2012 4 20, 2012 10 10 C3PV C3PV C3PV 1 Java C3PV 45 38 84% Programming Process Visualization for Supporting Students in Programming Exercise Hiroshi Igaki 1,a) Shun Saito
More information1 1983 5 1985 10 1991 5 1994 4 1995 8 10 40 12 1996 3 1997 3 1998 3 10 1999 9 2000 11 12 2001 1 6 6 7 2002 12 12 2003 1 12 2004 1 5 8 3 12 2005 2 3 5
14 12 eye 1 1983 5 1985 10 1991 5 1994 4 1995 8 10 40 12 1996 3 1997 3 1998 3 10 1999 9 2000 11 12 2001 1 6 6 7 2002 12 12 2003 1 12 2004 1 5 8 3 12 2005 2 3 5 9 2006 12 2007 8 8 2008 2 2009 6 8 8 11 5
More information1 911 9001030 9:00 A B C D E F G H I J K L M 1A0900 1B0900 1C0900 1D0900 1E0900 1F0900 1G0900 1H0900 1I0900 1J0900 1K0900 1L0900 1M0900 9:15 1A0915 1B0915 1C0915 1D0915 1E0915 1F0915 1G0915 1H0915 1I0915
More informationLAN LAN LAN LAN LAN LAN,, i
22 A secure wireless communication system using virtualization technologies 1115139 2011 3 4 LAN LAN LAN LAN LAN LAN,, i Abstract A secure wireless communication system using virtualization technologies
More information微分積分 サンプルページ この本の定価 判型などは, 以下の URL からご覧いただけます. このサンプルページの内容は, 初版 1 刷発行時のものです.
微分積分 サンプルページ この本の定価 判型などは, 以下の URL からご覧いただけます. ttp://www.morikita.co.jp/books/mid/00571 このサンプルページの内容は, 初版 1 刷発行時のものです. i ii 014 10 iii [note] 1 3 iv 4 5 3 6 4 x 0 sin x x 1 5 6 z = f(x, y) 1 y = f(x)
More informationIPSJ SIG Technical Report Vol.2016-CE-137 No /12/ e β /α α β β / α A judgment method of difficulty of task for a learner using simple
1 2 3 4 5 e β /α α β β / α A judgment method of difficulty of task for a learner using simple electroencephalograph Katsuyuki Umezawa 1 Takashi Ishida 2 Tomohiko Saito 3 Makoto Nakazawa 4 Shigeichi Hirasawa
More informationVol.-ICS-6 No.3 /3/8 Input.8.6 y.4 Fig....5 receptive field x 3 w x y Machband w(x =
DOG(Difference of two Gaussians 8 A feedback model for the brightness illusion Shoji Nodasaka and Asaki Saito We consider mechanism of the Hermann grid. The mechanism is usually explained by effects of
More information4 i
22 Quantum error correction and its simulation 1135071 2011 3 1 4 i Abstract Quantum error correction and its simulation Hiroko Dehare Researches in quantum information theory and technology, that mix
More informationAdvanced Visual Inspection Technology with 2-Dimensional Motion Images for Film-shaped Products Sumitomo Chemical Co., Ltd. Industrial Technology & Re
Advanced Visual Inspection Technology with 2-Dimensional Motion Images for Film-shaped Products Sumitomo Chemical Co., Ltd. Industrial Technology & Research Laboratory Osamu HIROSE Maya OZAKI This paper
More information