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1 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 and important range imaging methods. In this paper, the outline of the active stereo methods is introduced, and then our high-speed compact range image sensor is described that uses a multi-spot laser projector. It consists of a commercially available laser projector and a high-speed CCD camera. Although the acquired range image is sparse, the sensor is thought to be adequate for several applications such as robot vision because of its 200 Hz high-speed imaging, compactness, and robustness to disturbance light. A sensing system that combines the range image sensor and a color CCD camera is also introduced. A range image with a color texture can be acquired at 200 Hz with the system. Threedimensional mapping result is shown as an example of the sensor application. Key words: active stereo, range image sensor, multi-spot laser projector, triangulation, robot vision 3D Shirai 4 Microsoft Kinect ab 1 a 2 TOF time-of-flight method MHz b 2 shape from focus/defocus a b a b umeda@mech.chuo-u.ac.jp
2 1 2 a b a b NRC Synchronized Laser Scanner R, G, B CCD CCD / n 2 n 7 8 / khz CCD Kinect 5 13
3 a b 3 a b Hz 200 Hz PC 2. 1 CCD 2 k z α b f z, α k p b f p CCD a 4 CCD 3 b a mm 3 StockerYale Coherent Mini-519X 785 nm 35 mw CCD 200 fps Point Grey Research Dragonfly Express CCD 7.4 mm 8 mm 720 nm Hoya R72 Edmund Optics 785 nm 5 b CCD 47.5 mm 3 b arctan 1/
4 a a 7 7 pixel mm 733 mm b 5a CCD b 6 b 7 ab 2000 mm 800 mm 12.6 mm 2000 mm 31.5 mm mm a mm mm CCD CCD 12 10
5 5 CCD CCD Dragonfly Express 200 fps CCD mm 60 mm 100 mm 800 mm Hz 200 Hz CCD Hz 200 Hz CCD 15 Kinect lx 1 P. Besl: Active, optical range imaging sensors, Mach. Vision Appl., F. Blais: Review of 20 years of range sensor development, J. Electron. Imaging, Y. Shirai: Recognition of polyhedrons with a range finder, Pattern Recognit., Kinect No M. Rioux: Laser range finder based on synchronized scanners, Appl. Opt., Cubicscope Robomec 99 2P D J69-D Y. Watanabe, T. Komuro and M. Ishikawa: 955-fps real-time shape measurement of a moving/deforming object using high-speed vision for numerous-point analysis, Proc. of 2007 IEEE International Conference on Robotics and Automation Roma, 2007 pp Hz C Hz
6 チャ付き距離画像計測システムの構築と三次元マッピングへ の応用 日本ロボット学会誌 佐川立昌 川崎 洋 古川 亮 清田祥太 平行線投影を 用いた連続領域の検出による高密度なワンショット形状復 元 画 像 の 認 識 理 解 シ ン ポ ジ ウ ム MIRU2011 OS 吉澤 徹 最新光三次元計測 朝倉書店 T. Kuroki, K. Terabayashi and K. Umeda: Construction of a compact range image sensor using multi-slit laser projector and obstacle detection of a humanoid with the sensor, Proc IEEE/RSJ International Conference on Intelligent Robots and Systems Taipei, 2010 pp 年 12 月 21 日受理 a 図 11 図 10 に対して計測されたテクスチャー付 き距離画像 b 図 8 距離画像計測例 a 対象物体に投影されたス ポット光像 b 得られた距離画像 鳥瞰図 a b 図 12 複数のテクスチャー付き距離画像を用いた 三次元マッピング例 a 対象シーン b 構築さ れたカラーテクスチャー付き三次元マップ 図 10 カラー CCD カメラを加えたシステム による物体計測の様子 光 学
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様式 C-19 科学研究費補助金研究成果報告書 平成 23 年 4 月 30 日現在 機関番号 :32641 研究種目 : 基盤研究 (C) 研究期間 : 2008 ~ 2010 課題番号 :20500164 研究課題名 ( 和文 ) 屋外利用可能な高速小型距離画像センサの構築と三次元環境モデリング応用研究課題名 ( 英文 ) Construction of a fast and compact range
258 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.
SICE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),
Terahertz Color Scanner Takeshi YASUI Terahertz THz spectroscopic imaging is an interesting new tool for nondestructive testing, security screening, b
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1,a) 1,b) Obstacle Detection from Monocular On-Vehicle Camera in units of Delaunay Triangles Abstract: An algorithm to detect obstacles by using a monocular on-vehicle video camera is developed. Since
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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
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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
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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
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NAOSITE: Nagasaki University's Ac Title Author(s) 3D 計測によるコンクリート打継部及び曲面板の振動解析に関する研究 松田, 浩 ; 和田, 眞禎 ; 小嶋, 悟 ; 崎山, 毅 ; 森田, 千尋掲維 ; 仲村, 政彦 ; 山本, 晃 ; 鶴田, 健 Citation 応用力学論文集 Vol.3, pp.5-4, Issue Date URL http://hdl.handle.net/69/648
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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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