IPSJ SIG Technical Report Vol.2009-CVIM-169 No /11/ Stereo by the horizontal rotary movement of the upswing fisheye camera Sat
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1 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 angle of 9 egrees an all aroun 36, stereo vision is propose to ove the horiontal rotation. Using this technique, aie at all irections three-iensional reconstruction. In this stu, using ultiple stereo pairs of iages obtaine b rotating the horiontal oving upswing fishee caera, Calculate the coorinates of the three-iensional objects, b coparison of calculate an easure values, for the verification of accurac. In fact, eperients conucte b the shooting evice to inicate the effectiveness of the propose technique. 1 Grauate School of Natural Science an Technolog, Kanaawa Universit ) 2) 3) , 4) (X W Y W Z W ) (X C Y C Z C ) P (X p, Y p, Z p ) T(T, T, T ) Z C Z W X Y Z W = T T P Z C θ( θ 9 ) 1
2 T P X CY C X C ϕ( θ < 36 ) V = sin θ cos ϕ, sin θ sin ϕ, cos θ T (1) (u, v) P (X p, Y p, Z p ) P i (, ) C(C, C ) P i rpiel θ r = ( θ 2R sin 2) (2) (X W Y W Z W ) C C (,, C ) C b α C i (i = 1, 2,, N, N = 36/α) N Z C Y C C Z W 3 α = 3 N = 12 Rpiel θ 9 ( ) (2) θ ( ) θ = 2 sin 1 r, ϕ < 9 (3) 2R ϕ ( ) ϕ = tan 1, ϕ < 36 (4) 2 (X i Y i ) 3 (α = 3, N = 12 ) Fig. 3 The horiontal rotar oveent oel of the fishee caera( case α = 3, N = 12) N 2 N = (f) 66 (g) (j) Y W 1 : Fig. 1 Fishee projection oel:worl coorinate sste an a caera coorinate sste Fig. 2 2 Iage coorinate sste 3 4 (g) (j) 3 2
3 情報処理学会研究報告 図 4 ステレオペア画像の組み合わせ Fig. 4 stereo pair pattern 表 1 基線パターンと画像撮影点 Table 1 Baseline patterns an iages taken point パターン 撮影点 3. 実 C1,4 C11,5 (c) C12,6 () C9,3 (e) C8,2 (f) C7,1 (g) C9,5 (h) C8,6 (i) C11,3 Fig. 5 (j) C12,2 図 5 実験装置 魚眼カメラ 自動回転ステージコントローラ Apparatus Fish-ee caera Autoatic rotar stage controller 験 図 5 に魚眼カメラの外観を示す 本研究で使用したカメラはキャノン EOS 5D 画像サ イズ piel 魚眼レンズはシグマ 8 F3.5 EX DG CIRCULAR FISHEYE である 魚眼カメラの整準は 水準器を見ながら光軸 (ZC 軸) が鉛直上向きになるように 手動で行った カメラの水平回転角度の調整は図 5 の自動回転ステージを用いた 実験用の撮影ターゲットとして図 6 に示す模型を作成した 3 つの青い点を 3 次元座標計 図 6 撮影ターゲット 上から 横から Fig. 6 Taken target point oel Top view Sie view 測の対象点とした 対象点の間隔は 1. である 図 6 の撮影ターゲットを天井に 1 つ 壁に 2 つ設置し 対象点は全部で 9 点とした 世界座標系 (XW YW ZW ) の原点から高さ ZW = 1.27 の点を 回転中心 C (,, 1.27) とした 回転中心 C から半径 b =.2 離れた円周上で 魚眼カメラを水平に回転移 動させた 回転角度 α = 3 ずつ魚眼カメラを移動させ Ci (i = 1, 2,, 12) 地点で合計 12 枚の画像を取得した 点 Pi (i = 1, 2, 9) に対して 図 4 の 1 パターンのステレオペ ア画像を用いて 3 次元座標計測を行った 図 7 に 対象点 Pi (i = 1, 2, 9) と図 4 の場合の画像撮影点 C1,4 の位置関係を示す 点 P1 P2 P3 は ZW ) 方向 点 P4 P5 P6 は XW ) 方向 点 は YW ) 方 向の対象点である 図 4 の C1,4 の基線は 点 P4 P5 P6 とほぼ同じ方向で 点 図7 とほぼ垂直である 表 1 にステレオペアのパターンと画像の組み合わせを示す 3 対象点 Pi (i = 1, 2, 9) と画像撮影点 C1,4 の位置 Fig. 7 Target point an iages taken point c 29 Inforation Processing Societ of Japan
4 2 3 P 1 P 2 P 3 Table 2 Results of three-iensional coorinate P 1 P 2 P 3 P 1 P 2 P 3 X Y Z X Y Z X Y Z (c) () (e) (f) (g) (h) (i) (j) (c) () (e) (f) (g) (h) (i) (j) 8 X P 1 P 2 P 3 Fig. 8 X coorinate error argin P 1 P 2 P (c) () (e) (f) (g) (h) (i) (j) P1 P2 P3 P1 P2 P Z W P 1 P 2 P 3 3 (X, Y, Z) - 2 P 1 P 2 P 3 X 8 Y 9 Z 1 2 P 2 (f) (h).37 P 4 P 5 P 6 P 7 P 8 P 9 9 Y P 1 P 2 P 3 Fig. 9 Y coorinate error argin P 1 P 2 P (c) () (e) (f) (g) (h) (i) (j) P1 P2 P3 1 Z P 1 P 2 P 3 Fig. 1 Z coorinate error argin P 1 P 2 P 3 4
5 3 3 P 4 P 5 P 6 Table 3 Results of three-iensional coorinate P 4 P 5 P 6 P 4 P 5 P 6 X Y Z X Y Z X Y Z (c) () (e) (f) (c) () (e) (f) 11 X P 4 P 5 P 6 Fig. 11 X coorinate error argin P 4 P 5 P 6.2 P4 P5 P6.1 3 X W P 4 P 5 P P 4 P 5 P 6 X 11 Y 12 Z 13 P 4 P 5 P 6 (g) (j) (f) P 4 P 5 P 6 (f) (c) (e) () 4 Y W P 7 P 8 P P 7 P 8 P P 7 P 8 P 9 (f) 15 (e) P 7 P 8 P 9 () (c) (e) (g) (j) (c) () (e) (f) 12 Y P 4 P 5 P 6 Fig. 12 Y coorinate error argin P 4 P 5 P (c) () (e) (f) 13 Z P 4 P 5 P 6 Fig. 13 Z coorinate error argin P 4 P 5 P 6 P4 P5 P6 P4 P5 P6 5
6 4 3 P 7 P 8 P 9 Table 4 Results of three-iensional coorinate P 7 P 8 P 9 P 7 P 8 P 9 X Y Z X Y Z X Y Z (c) () (e) (f) (g) (h) (i) (j) (c) () (e) (g) (h) (i) (j) 15 Y P 7 P 8 P 9 (e) (g) (j) Fig. 15 Y coorinate error argin P 7 P 8 P 9 Patterns (e) Patterns (g) (j) (c) () (e) (c) () (e) (g) (h) (i) (j) (g) (h) (i) (j) -.2 Fig Z P 7 P 8 P 9 (e) (g) (j) Z coorinate error argin P 7 P 8 P 9 Patterns (e) Patterns (g) (j) Fig X P 7 P 8 P 9 (e) (g) (j) X coorinate error argin P 7 P 8 P 9 Patterns (e) Patterns (g) (j) 6
7 ),6) 1) Vol.42 No.SIG 13(CVIM 3) pp.1-18 (21) 2) 3 Vol.J87-D-II No.5 pp (24) 3) pp (28) 4) Vol.J75-D-II No.8 pp (1992) 5) Vol.J9-D No.1 pp73-82 (27) 6) Vol.J89-D No.1 pp64-73 (26) 7
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