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1 NAIST-IS-MT
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3 ,,,.,,.,,.,,,,.,,,.,,,.,,,.,,,,, NAIST-IS- MT , i
4 Wearable 3D Shape Measurement System with Estimating Self Pose and Position Masanobu Tsuchiya Abstract At present, when the user let someone know a shape of some object, the user can take the shape as a photograph and send someone it instantly by using mobile phone attached small camera. However, 2 dimensional image such as this photograph cannot represents 3 dimensional shape of someobject strictly. By using 3 dimensional information, the user can see the object from free position and direction and know the shape more closely. The present method taking the 3 dimensional shape spents various time in order to take the shapes from pictures and photographs manually. There are few 3D measurement system which can take 3 dimensional information easily, such as the mobile phone attached a camera which can take a picture easily and send it immediately. This paper proposes the newly 3D shape measurement system. This system can take 3D shape of hand-held size object without pre-preparation and send it straightaway. The user can measure the shape of the object by natural operations that the user looks at it from free direction. Keywords: Three-Dimensional Information, 3D Measurement, Wearable Computer, Marker, Slit-Light Detection Master s Thesis, Department of Information Processing, Graduate School of Information Science, Nara Institute of Science and Technology, NAIST-IS-MT , February 6, ii
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7 GPT-8000A KONICA MINOLTA VIVID FARO Technologies Inc. FaroArm Gold Kreon Technologies KLS51 Model Faro Arm Kreon 3D laser sensor Polhemus 3SPACE FASTRAK Ascension Flock of Birds Northern Digital hybrid POLARIS ARToolKit A Self-Referenced Hand-Held Range Sensor Interactive Shape Acquisition using Marker Attached Laser Projector v
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10 1,.,.,,,,.,,.,,., 3D [1] [2], [3].,,.,,.,,,,,.,,,,.,,.,,,,.,,, 1
![[1] [2], [3].,,.](/docs-images/41/22752146/images/page_10.jpg ",,.,,,,,.,,,,.,,.,,,,.,,, 1")
11 .,,,,.,,,.,.,,,., Head Mounted Display,., 2, 3,. 4, 6. 2
12 2, ,,, 2,. 2.1.,.,,,.,., ,.,, 3
13 2.1: [4].,., , 2, p 2., 2 p, c 1, c 2, c 1, c 2 ϑ 1, ϑ 2, 2 p c1, p c2.,., p, 2,. 4
14 2.2:, 2,,., 2.,,., 1.,,,,.,. Mercury3D[5].,., 1,.,,,,,. 5
![Mercury3D[5].,.](/docs-images/41/22752146/images/page_14.jpg ", 1,.,,,,,. 5")
15 ,,,.,,.,,., [m/s],.,,. 2.3,.,.,,,, [6].,,,., 2.,,,. 6
![2.3,.,.,,,, [6].](/docs-images/41/22752146/images/page_15.jpg ",,,., 2.,,,. 6")
![2.3: GPT-8000A[7],.](/docs-images/41/22752146/images/16-0.png ",, 1 1, 2.4.,.,,,,,.,.,..,. 7")
16 2.3: GPT-8000A[7],.,, 1 1, 2.4.,.,,,,,.,.,..,. 7
17 2.4: 2.5: KONICA MINOLTA VIVID910 [8] KONIKA MINOLTA VIVID [8]. VIVID,, 0.2[mm] ,,.,,, 8
![VIVID910 [8] KONIKA](/docs-images/41/22752146/images/page_17.jpg "MINOLTA VIVID [8].")
18 ., ,.,,., Faro FaroArm[9] Kreon 3D laser sensors[10] 2.6, 2.7,??. 10[µm], 25[µm].,,.,,.,,.., Polhemus 3SPACE FASTRAK[11] [11] 2.9. Fastrak 1.5[m], 1[mm], 0.15., Ascension Flock of Birds[12] [12] 9
![6, 2.7,??. 10[µm], 25[µm].,,.](/docs-images/41/22752146/images/page_18.jpg ",,.,,.., Polhemus 3SPACE FASTRAK[11] [11] 2.9.")
![2.6: FARO Technologies Inc. FaroArm Gold [9] 2.](/docs-images/41/22752146/images/19-0.png "7: Kreon Technologies KLS51 Model [10] 2.")
19 2.6: FARO Technologies Inc. FaroArm Gold [9] 2.7: Kreon Technologies KLS51 Model [10] 2.8: Faro Arm Kreon 3D laser sensor 10
![2.10. Flock of Birds 1.2[m], 0.5[mm], 0.15.,,,.,,,. 2.9: Polhemus 3SPACE FASTRAK [11] 2.](/docs-images/41/22752146/images/20-0.png "10: Ascension Flock of Birds [12],,., 1., 2.,. 1,. LED, LED.")
20 2.10. Flock of Birds 1.2[m], 0.5[mm], 0.15.,,,.,,,. 2.9: Polhemus 3SPACE FASTRAK [11] 2.10: Ascension Flock of Birds [12],,., 1., 2.,. 1,. LED, LED., Northern Digital hybrid POLARIS Active [13]., 11
![10: Ascension Flock of Birds [12],,., 1., 2.,. 1,.](/docs-images/41/22752146/images/page_20.jpg "LED, LED.")
![LED, LED,,. 2,,., ARToolKit[14]. ARToolKit,.,,., Mixed Realty,,.,,,.](/docs-images/41/22752146/images/21-0.png ",. 2.11: Northern Digital hybrid POLARIS [13] 2.")
21 LED, LED,,. 2,,., ARToolKit[14]. ARToolKit,.,,., Mixed Realty,,.,,,.,. 2.11: Northern Digital hybrid POLARIS [13] 2.12: ARToolKit[15] 12
22 2.3, [16].,,,.,.,.. 1., 3. 2., 3,. 3..,., 10 20,., 2,., Hebèrt A Self-Referenced Hand-Held Range Sensor [17] Fukukawa [18] Interactive Shape Acquisition using Marker Attached Laser Projector. 13
23 (a) (b) (c) 2.13: 3 [16] 14
24 A Self-Referenced Hand-Held Range Sensor 2,.,.,., [µm]. Interactive Shape Acquisition using Marker Attached Laser Projector 5 LED,.,,. LED 5,,.. A Self-Referenced Hand-Held Range Sensor.,,., Interactive Shape Acquisition using Marker Attached Laser Projector,,,. 2.4,
25 (a) (c) (b) 2.14: A Self-Referenced Hand-Held Range Sensor [17] 16
![(a) [18] (b) [19] 2.](/docs-images/41/22752146/images/26-0.png "15: Interactive Shape Acquisition using Marker")
26 (a) [18] (b) [19] 2.15: Interactive Shape Acquisition using Marker Attached Laser Projector 17
27 , 1., 2,. 18
28 3,...,,.,,. 3.1,,,, PC, 3.1.,, 2.1.1,.,, ,.,,,., Head Mounted Display,., PC. 19
29 3.1: 3.2.,.,,.,,.,,.,.,.,. 20
30 3.2.1,,.,,., :,,.?? P n P cn (X cn, Y cn ) P n X n X 0n a n = Y n Y 0n b n = Z n Z 0n c n (3.1) a n, bn, cn, X0n, Y 0n, Z0n Pcn 3.1 k P n 21
31 P n+1 P n+3 = P n l n = P n P n+1 {(a n k + X 0n ) (a n+1 k + X 0n+1 )} 2 + = {(b n k + Y 0n ) (b n+1 k + Y 0n+1 )} 2 + (3.2) {(b n k + Z 0n ) (b n+1 k + Z 0n+1 )} 2 l n k 3.3: 2.2.1, ARToolKit ,,, 1. 1., 1,, 22
32 3.4.,.,,. t t F RGB (t)., RGB,. RGB, Y C R C B Y. RGB r, g, b, Y(r, g, b) = ( r) + ( g) + ( b) (3.3) [20]., rgb, 8[bit], 0 r, g, b 255.,,,.,,,.,,,,,.. F RGB (t) F Y (t), F Y (t 1),, F Diff (t) = F Y (t) A F Y (t 1) (3.4) 23
33 (a) (b) 3.4: 24
34 . A,. A now, A prev, A A = A 1 now A prev (3.5). x, y x, y, a xx a xy a xz 0 [ ] [ ] x y z 1 = x y z a yx a yy a yz 0 1 a zx a zy a zz 0 a lx a ly a lz 1 [ ] = x y z 1 A z = z = 0. [ ] [ ] x y 0 1 = x y 0 1 A (3.6),,,??..,??, 25
35 ., x h c x c h c y c = C y h z c 1 x h c x c c 11 c 12 c 13 c 14 h c y c = c 21 c 22 c 23 c 24 y (3.7) h c c 31 c 32 c 33 c z C, x c, y c, x, y, z..,,,., 3.7, x c, y c, h c. 3.7, x c = 0, y c = 0,, ] ] x [h p = [p 1 p 2 p 3 y (3.8) z., h p , q, q, q.,,
36 3.8,, c 34 x c c 14 c 11 c 31 x c c 12 c 32 x c c 13 c 33 x c x c 34 y c c 24 = c 21 c 31 y c c 22 c 32 y c c 23 c 33 y c y h p p 1 p 2 p 3 z F = Q V (3.9)., V V = Q 1 F (3.10)., 3.10,,,. 3.5: 27
37 ,.. M o, M now,, [ ] T [ T x o y o z o 1 = M 1 o M now x y z 1] (3.11).,,,.,. 28
38 4,,,. 4.1, PC CPU Intel Pentium 4 1.2[GHz] [GB] ATI MOBILITY RADEON 9000 I O DATA magictv : [P ixel] WATEC WAT-240R : NTSC Composite Video 29
![TAKENAKA OPTONIC 赤色スリット光レーザ.... 波長 : 635[nm] 図 4.1: 試作計測器 4.1.1 カメラと計測器の調整 レンズ歪の補正 歪みのない三次元形状を得るためにレンズ歪を補正する.](/docs-images/41/22752146/images/39-0.png "補正式は, Tsai のモ デルのレンズ歪補正式 [21] Xu = Xd + Dx (4.1) Yu = Yd + Dy (4.2) を用いる. Xu, Yu は補正後の座標値, Xd, Yd は補正前の座標値である.")
39 TAKENAKA OPTONIC 赤色スリット光レーザ.... 波長 : 635[nm] 図 4.1: 試作計測器 カメラと計測器の調整 レンズ歪の補正 歪みのない三次元形状を得るためにレンズ歪を補正する. 補正式は, Tsai のモ デルのレンズ歪補正式 [21] Xu = Xd + Dx (4.1) Yu = Yd + Dy (4.2) を用いる. Xu, Yu は補正後の座標値, Xd, Yd は補正前の座標値である. Dx, Dy が 補正値であり, レンズの半径方向の歪係数 κ1, κ2 を用いて, 以下のように表すこ 30
40 ??. D x = X d (κ 1 r 2 + κ 2 r 4 ) (4.3) D y = Y d (κ 1 r 2 + κ 2 r 4 ) (4.4) r = Xd 2 + Y d 2 (4.5), (X u, Y u ), (X d, Y d ), D x, D y., κ 1, κ 2., C P [cm]. 4.3 O Z, X, Y. Z 2[cm], g,, X, Y Z, x c, y c.,., 30[cm] 4[cm]. C P ,.,,
41 4.2: 32
42 Y X O Z 図 4.3: キャリブレーション時の機材配置 カメラから約 22[cm] カメラから約 4[cm] 図 4.4: 方眼撮影画像の例 33
43 4.1: X [cm] Y [cm] Z [cm] 4[cm] 16[cm] [cm] 28[cm] , 32,, [cm] 28[cm] 1.67[cm].,,,. 4[cm] 16[cm], 2[mm],., [cm] 8[cm] 2[cm],., ,,,
44 図 4.5: スリット光断面の計測結果 図 4.6: スリット光抽出実験の様子 35
45 1[cm] 2[cm] 3[cm] 4[cm] 5[cm] 4.7: 36
46 ,,
47 (a) (b) 4.8: 38
48 (a) (b) 4.9: 39
49 (a) 4.10: 40
50 5 5.1, 18[cm] 28[cm] 1.67[cm].,,,. 4[cm] 16[cm], 2[mm],.,., [cm]..,,,.,,..,.,,,, 41
51 , 42
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54 [1] NTT DoCoMo. Inc. 3d. [2].. [3] SQUARE ENIX. FINAL FANTASY XI Online. [4].., [5].., , [6] MIKIMOTO, Co., LTD. 3D-MODE. [7].. [8] vivid/. [9] Faro Technologies Inc. FaroArm. 45
55 [10] Kreon Technologies. Kreon Technologies 3D scanner laser: The complete 3D scanning solutions. [11] Polhemus. 3SPACE FASTRAK. [12] Ascension. Flock of Birds. [13] Northern Digital Inc. NDI: Products: Polaris. [14] Mark Billinghurst.. TVRSJ, Vol. 4,, [15] Human Interface Technology Laboratory University of Washington. AR- ToolKit. [16].., No , pp , [17] Patrick Hebèrt. A Self-Referenced Hand-Held Range Sensor. Third International Conference on 3-D Digital Imaging and Modeling, pp. 5 12, [18] Hiroshi Kawasaki Ryo Furukawa. Interactive Shape Acquisition using Marker Attached Laser Projector. Third International Conference on 3-D Digital Imaging and Modeling, pp , [19] 21. 3D. 46
56 [20].., [21]..,
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15 GUI A study on the system to transfer a GUI sub-picture to the enlarging viewer for operational support 1040270 2004 2 27 GUI PC PC GUI Graphical User Interface PC GUI GUI PC GUI PC PC GUI i Abstract
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[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
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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
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TF-IDF TDF-IDF TDF-IDF Extracting Impression of Sightseeing Spots from Blogs for Supporting Selection of Spots to Visit in Travel Sat
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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
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1 1 1 2009 2 ( ) 600 1 2 1 2 RFID PC Practical Verification of Evacuation Guidance Based on Pedestrian Traffic Measurement Tomohisa Yamashita, 1 Shunsuke Soeda 1 and Noda Itsuki 1 In this paper, we report
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1: A/B/C/D Fig. 1 Modeling Based on Difference in Agitation Method artisoc[7] A D 2017 Information Processing
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IPSJ SIG Technical Report iphone iphone,,., OpenGl ES 2.0 GLSL(OpenGL Shading Language), iphone GPGPU(General-Purpose Computing on Graphics Proc
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b Kaochen- A Karaoke system which changes a singer s face by Yukihiro ODA BA Thesis at Future University Hakodate, 2014 Advis
25 - - b1010132 2014 1 31 A Karaoke system which changes a singer s face by Advisor: Kazushi MUKAIYAMA Department of Complex Media Architecture Future University Hakodate January 31, 2014 Abstract Now,
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12 Exploration Method of Various Routes with Genetic Algorithm 1010369 2001 2 5 ( Genetic Algorithm: GA ) GA 2 3 Dijkstra Dijkstra i Abstract Exploration Method of Various Routes with Genetic Algorithm
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1: 2: 3: 4: 2. 1 Exploratory Search [4] Exploratory Search 2. 1 [7] [8] [9] [10] Exploratory Search
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23 Study on character extraction from a picture using a gradient-based feature 1120227 2012 3 1 Google Street View Google Street View SIFT 3 SIFT 3 y -80 80-50 30 SIFT i Abstract Study on character extraction
1 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 +
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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
(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
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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
2. 2.1 Lytro [11] The Franken Camera [12] 2.2 Creative Coding Community Creative Coding Community [13]-[19] Sketch Fork 2.3 [20]-[23] 3. ourcam 3.1 ou
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情 報 処 理 学 会 インタラクション 2013 IPSJ Interaction 2013 2013-Interaction (3EXB-06) 2013/3/2 ourcam: 1 2 ourcam ourcam: On-Site Programming Environment for Digital Photography RYO OSHIMA 1 YASUAKI KAKEHI 2 In these
IPSJ SIG Technical Report Vol.2011-EC-19 No /3/ ,.,., Peg-Scope Viewer,,.,,,,. Utilization of Watching Logs for Support of Multi-
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23 The Study of support narrowing down goods on electronic commerce sites
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36 Kitchen of the Future: Kitchen of the Future Kitchen of the Future A kitchen is a place of food production, education, and communication. As it is more active place than other parts of a house, there
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28 Research of password manager using pattern lock and user certificate 1170369 2017 2 28 Web Web Web Web i Abstract Research of password manager using pattern lock and user certificate Takuya Mimoto In
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24 Depth scaling of binocular stereopsis by observer s own movements
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25 Removal of the fricative sounds that occur in the electronic stethoscope
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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
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Vol.55 No.1 2 15 (Jan. 2014) 1,a) 2,3,b) 4,3,c) 3,d) 2013 3 18, 2013 10 9 saccess 1 1 saccess saccess Design and Implementation of an Online Tool for Database Education Hiroyuki Nagataki 1,a) Yoshiaki
デジタルメディアの時代における協働社会のデザインと地方行政の役割 : 元住吉商店街プロジェクトでの実践活動を通して
The Design of Co-productive Society with Digital Media and the New Role of Local Government Abstract As one of the roles of the local government in present Japan, the city planning of resident autonomy
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3DCG 1) ( ) 2) 2) 1) 2) Real-Time Line Drawing Using Image Processing and Deforming Process Together in 3DCG Takeshi Okuya 1) Katsuaki Tanaka 2) Shigekazu Sakai 2) 1) Department of Intermedia Art and Science,
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14 CRT Color Constancy in the Conditions of Dierent Cone Adaptation in a CRT Display
14 CRT Color Constancy in the Conditions of Dierent Cone Adaptation in a CRT Display 1030281 2003 2 12 CRT [1] CRT. CRT von Kries PC CRT CRT 9300K CRT 6500K CRT CRT 9300K x y S L-2M x y von Kries S L-2M
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MEMOIRS OF SHONAN INSTITUTE OF TECHNOLOGY Vol. 41, No. 1, 2007 * * 2 * 3 * 4 * 5 * 6 * 7 * 8 Service Learning for Engineering Students Satsuki TASAKA*, Mitsutoshi ISHIMURA* 2, Hikaru MIZUTANI* 3, Naoyuki
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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:
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22 Retrieval support system using bookmarks that are shared in an organization 1110250 2011 3 17 IT,, i Abstract Retrieval support system using bookmarks that are shared in an organization Yoshihiko Komaki
HP cafe HP of A A B of C C Map on N th Floor coupon A cafe coupon B Poster A Poster A Poster B Poster B Case 1 Show HP of each company on a user scree
LAN 1 2 3 2 LAN WiFiTag WiFiTag LAN LAN 100% WiFi Tag An Improved Determination Method with Multiple Access Points for Relative Position Estimation Using Wireless LAN Abstract: We have proposed a WiFiTag
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27 Verification of the usefulness of the data distribution method by browser cache sharing 1160285 2016 2 26 P2P Web Proxy P2P Web Proxy P2P P2P Web Proxy P2P Web Proxy Web P2P WebProxy i Abstract Verification
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Vol. 49 No. 6 1932 1941 (June 2008) RFID 1 2 RFID RFID RFID 13.56 MHz RFID A Experimental Study for Measuring Human Activities in A Bathroom Using RFID Ryo Onishi 1 and Shigeyuki Hirai 2 A bathroom is
IPSJ SIG Technical Report Vol.2009-DPS-141 No.23 Vol.2009-GN-73 No.23 Vol.2009-EIP-46 No /11/27 t-room t-room 2 Development of
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SNS ( ) SNS(Social Networking Service) SNS SNS i
22 SNS Job-Hunting Activities situation Understanding Support System Using SNS 1110252 2011 03 01 SNS ( ) SNS(Social Networking Service) SNS SNS i Abstract Job-Hunting Activities situation Understanding