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

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1 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 PAL DP PAL (1) (2) (3) [1] PAL (3) PAL Panoramic Annular Lens 1985 Greguss [2] PAL [3] (perspective projection) PAL 1, Faculty of Engineering, Toyama University, Gofuku 3190, Toyama-shi, Toyama, Japan, Toshiba Corporation, 2-9,Suehiro-cho,Ome, Tokyo, Japan, Department of Information Engineering, Graduate School of Engineering, Nagoya university, Furou-cho Chigusa-ku, Nagoya-shi, Japan 1 PAL 1 2 PAL (1)2 [3] [4] (2) 2 [5] (3)1 [6] [4] [8] 2 [5] 3 A Vol. Jxx A No. xx pp. 1 8 xxxx xx 1

2 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 Panoramic Annular Lens PAL C PAL ( 3) PAL PAL 2 PAL 2. 2 PAL 1 LED 12 4 LED LED 2 PAL Fig. 2 Optical structure of PAL 3 PAL Fig. 3 PAL image LED α( ) PAL LED r α r 5 5 (X, Z) PAL (x, z) p r = (X X C ) 2 +(Z Z C ) 2 R I (1) 2

3 PAL 4 Fig. 4 Measurement scheme Fig. 6 6 Elevation angle and mapping position 5 PAL Fig. 5 Coodinates of PAL image (X C,Z C) PAL R I 5 PAL x z 5 θ 5 r α (pixel) α( ) 2 PAL 2 2 (2) 6 α = r r (2) 2. 3 PAL 1 PAL [7] PAL [8] 1 PAL PAL (2) 7 8(a) 3 8(b) (2) 2 0 (2) PAL PAL PAL 2 PAL 2 PAL 9 PAL 2 α β (3) d 3

4 xx/xx Vol. Jxx A No. xx 9 Fig. 9 Simulation scheme tan β =(h + b)/d d α θ 3 (4) x = d cos θ y = d tan α z = d sin θ (4) d = 7 Fig. 7 Cylindrical coordinate (a) Distortion free image (b) Correction by a linear function 8 Fig. 8 b tan β tan α 3 Corrected view(a part of Fig.3) (3) b tan α = h/d A 2 PAL PAL θ =0 2 2 PAL (2) 2 h 1m 0.5m 0m 0.15m 0.3m 0.7m 6 A B 0.3m 2m 100m 10(a)(b)(c) (a) h =1, 0.5 (b) h =0, 0.15 (c) h = 0.3, m 20m % 4

5 PAL (a) Measurement error for h =1.0, 0.5 Fig % 10% error vs. distance between two cameras 4. (b) Measurement error for h =0, 0.15 (c) Measurement error for h = 0.3, Fig. 10 Measurement error 0.2m 0.3m 0.4m 0.5m PAL CCD 4. 1 PAL DP DP DP PAL PAL PAL DP DP PAL f1 K (i) f2 K (j) 12 K {R, G, B} (5) (i, j) g g(i, j) =F 1 + F 2 + F 3 (5) F 1 F 2 F 3 F 1 =max [f 1 K (i) f2 K (j)] 2 K F 2 =max[(f1 K (i +1) f1 K (i)) K 5

6 xx/xx Vol. Jxx A No. xx (a) Top camera image 12 Fig. 12 Intensity functions on an epi-polar line (f K 2 (j +1) f K 2 (j))] 2 F 3 =min[g(i 1,s)+max[(f1 K (i) f1 K (i 1)) s K (f2 K (j) f2 K (s))] 2 +((j s 1) 10) 2 ] F 1 R, G, B F 2 F 3 i 1 DP PAL 2 PAL m 2 NIKON COOLPIX900 (b) Bottom camera image (c) Perspective projection image (d) Distance image 6

7 PAL (e) 3D image (f) Displacement of the view point 13 3 Fig. 13 Example of 3D data RGB PAL DP , m 8m 2.5m (a)(b) PAL 3 (c) (c) 11m (d) (a) (b) (d) 1m 0.5 (d) (window) (pillar) DP DP 1 (sink) AV (AV) (chair) 3 (e) (f) (d) (c)(e)(f) PC CPU 1.1GHz Celeron 512MB PAL PAL Panoramic Annular Lens PAL 1 PAL 2 2 PAL 30cm 20m 10 PAL 3 DP [1] Y. Yagi; Omnidirectional sensing and its application, IEICE Trans. Inform. and Systems, Vol.3 7

8 xx/xx Vol. Jxx A No. xx pp [2] P. Greguss; PAL-optic based instruments for space research and robotics, Laser and Optoelektronik, Vol.28, pp43 49, [3] ;, D-II, Vol.J79-D-II, No.5, pp , [4] ;,, PRMU200-69, pp.57-62, [5] ; 3, Vol.51, No.10, pp , [6] ;, D-II Vol.J84-D-II, No.9, pp , [7] F. Ekpar, H.Hase, M.Yoneda; Constructing Arbitary Perspective-Corrected Views From Panoramic Images Using Neural Networks, Proceeding of the 7th International Conference on Neural Information Processing, pp , [8] ; 3, PRMU pp x xx xx IEEE CENPARMI (2002 ) IEEE Computer Society

2003/3 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

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