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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 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 1. 3 1) 2) 3) 18 9 36 3 2 3, 4) 2. 3 2.1 1 (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

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) 2.2 3 (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) 2.3 3 N 2 N = 12 66 4 1 (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

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 4368 2912 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

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 -.1 2.453 2.553.1 2.353 -.83 -.3 2.399.6 -.3 2.485.11 -.24 2.318.17 -.3 -.54.6 -.3 -.68.1 -.24 -.35 -.84 -.28 2.397.6 -.29 2.481.11 -.23 2.316.16 -.28 -.56.6 -.29 -.72.1 -.23 -.37 (c) -.83 -.24 2.387.6 -.26 2.466.1 -.2 2.35.17 -.24 -.67.6 -.26 -.87 -.1 -.2 -.48 () -.83 -.26 2.394.6 -.26 2.473.1 -.21 2.315.17 -.26 -.59.6 -.26 -.8 -.21 -.38 (e) -.83 -.24 2.386.6 -.25 2.464.1 -.19 2.37.17 -.24 -.67.6 -.25 -.89 -.19 -.46 (f) -.82 -.24 2.386.6 -.24 2.458.99 -.2 2.35.18 -.24 -.67.6 -.24 -.95 -.1 -.2 -.48 (g) -.81 -.28 2.41.9 -.29 2.48.14 -.23 2.316.19 -.28 -.52.9 -.29 -.73.4 -.23 -.37 (h) -.79 -.27 2.41.12 -.31 2.495.17 -.24 2.323.21 -.27 -.52.12 -.31 -.58.7 -.24 -.3 (i) -.87 -.26 2.396.3 -.26 2.482.98 -.21 2.322.13 -.26 -.57.3 -.26 -.71 -.2 -.21 -.32 (j) -.9 -.21 2.45 -.22 2.489.96 -.16 2.324.1 -.21 -.48 -.22 -.65 -.4 -.16 -.29.25.2.15.1.5 -.1 (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 3 -.1 -.15 -.2 -.25 -.3 (c) () (e) (f) (g) (h) (i) (j) P1 P2 P3 P1 P2 P3 -.35 4. 2 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 3 -.1 -.2 -.3 -.4 -.5 -.6 -.7 -.8 -.9 -.1 (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

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 2.9 -.1 1.5 3. 1.5 2.8.1 1.5 2.66 -.92 1.456 2.27 -.23 1.464 2.18.56 1.478 -.834.8 -.44 -.793 -.23 -.36 -.62 -.44 -.22 (c) 2.527 -.112 1.5 2.645 -.24 1.55 2.56.67 1.51 -.373 -.12 -.355 -.24.5 -.294 -.33.1 () 2.25 -.91 1.468 2.259 -.14 1.469 2.68.61 1.465 -.695.9 -.32 -.741 -.14 -.31 -.732 -.39 -.35 (e) 2.545 -.16 1.5 2.647 -.18 1.56 2.472.71 1.57 -.356 -.6 -.354 -.18.6 -.328 -.29.7 (f) 2.584 -.19 1.56 2.658 -.2 1.56 2.499.71 1.58 -.316 -.9.6 -.342 -.2.6 -.31 -.29.8 -.1 -.2 -.3 -.4 -.5 -.6 -.7 -.8 -.9 (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 6 3 3 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 9 3 4 P 7 P 8 P 9 14 15 16 P 7 P 8 P 9 (f) 15 (e) P 7 P 8 P 9 () (c) (e) (g) (j) -.1 -.2 -.3 -.4 -.5 (c) () (e) (f) 12 Y P 4 P 5 P 6 Fig. 12 Y coorinate error argin P 4 P 5 P 6.2.1 -.1 -.2 -.3 -.4 -.5 (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

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.1 1.9 1.5 2. 1.5 -.1 1.8 1.5.1 1.86 1.57.2 1.977 1.574 -.95 1.764 1.57 -.4.7.2 -.23.74.5 -.36.7.12 1.75 1.55.1 1.831 1.55 -.81 1.647 1.547.2 -.15.5.1 -.169.5.19 -.153.47 (c).91 1.575 1.518.9 1.62 1.514 -.72 1.438 1.51 -.9 -.325.18.9 -.38.14.28 -.362.1 ().99 1.752 1.548.7 1.862 1.551 -.87 1.69 1.553 -.1 -.148.48.7 -.138.51.13 -.11.53 (e).86 1.484 1.54.8 1.611 1.512 -.76 1.518 1.523 -.14 -.416.4.8 -.389.12.24 -.282.23 (f) (g).15 1.768 1.569.14 1.866 1.572 -.8 1.683 1.57.5 -.132.69.14 -.135.72.2 -.117.7 (h).18 1.763 1.58.16 1.872 1.586 -.78 1.689 1.584.8 -.137.8.16 -.128.86.22 -.111.84 (i).1 1.89 1.54.4 1.91 1.541 -.91 1.721 1.541 -.91.4.4 -.9.41.9 -.79.41 (j).99 1.824 1.526.4 1.948 1.529 -.93 1.75 1.53 -.1 -.76.26.4 -.52.29.7 -.5.3 -.5 -.1 -.15 -.2 -.25 -.3 -.35 -.4 -.45 (c) () (e) -.2 -.4 -.6 -.8 -.1 -.12 -.14 -.16 (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).8.1.7.9.8.6.7.3.25.2.25.2.5.4.3.6.5.4.15.1.5 (c) () (e).15.1.5.2.1 (c) () (e).3.2.1 (g) (h) (i) (j) -.1 -.15 (g) (h) (i) (j) -.2 Fig. 16 16 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. 14 14 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

5. 18 3 3 3 5),6) 1) Vol.42 No.SIG 13(CVIM 3) pp.1-18 (21) 2) 3 Vol.J87-D-II No.5 pp.112-1132 (24) 3) pp.111-125 (28) 4) Vol.J75-D-II No.8 pp.1317-1327 (1992) 5) Vol.J9-D No.1 pp73-82 (27) 6) Vol.J89-D No.1 pp64-73 (26) 7

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