AR. AR AR Lenti- Mark[3] 1 LentiMark AR ARToolKitPlus 1 3 ArraMark ArraMark 5). ID ArraMark 9 1 Lens area Reference points () ArraMark prototpe

Similar documents
& Vol.5 No (Oct. 2015) TV 1,2,a) , Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Ro

28 Horizontal angle correction using straight line detection in an equirectangular image

24 Depth scaling of binocular stereopsis by observer s own movements

11) 13) 11),12) 13) Y c Z c Image plane Y m iy O m Z m Marker coordinate system T, d X m f O c X c Camera coordinate system 1 Coordinates and problem

258 5) GPS 1 GPS 6) GPS DP 7) 8) 10) GPS GPS ) GPS Global Positioning System

０８０１３９１，繊維学会ファイバ１２月号／報文－０１－西川

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

(MIRU2008) HOG Histograms of Oriented Gradients (HOG)

[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

IPSJ SIG Technical Report Vol.2015-CVIM-196 No /3/6 1,a) 1,b) 1,c) U,,,, The Camera Position Alignment on a Gimbal Head for Fixed Viewpoint Swi

日立金属技報　Vol.34

IPSJ SIG Technical Report iphone iphone,,., OpenGl ES 2.0 GLSL(OpenGL Shading Language), iphone GPGPU(General-Purpose Computing on Graphics Proc

1 Fig. 1 Extraction of motion,.,,, 4,,, 3., 1, 2. 2.,. CHLAC,. 2.1,. (256 ).,., CHLAC. CHLAC, HLAC. 2.3 (HLAC ) r,.,. HLAC. N. 2 HLAC Fig. 2

06_学術_関節単純X線画像における_1c_梅木様.indd

IPSJ SIG Technical Report Vol.2014-CG-155 No /6/28 1,a) 1,2,3 1 3,4 CG An Interpolation Method of Different Flow Fields using Polar Inter

2 Fig D human model. 1 Fig. 1 The flow of proposed method )9)10) 2.2 3)4)7) 5)11)12)13)14) TOF 1 3 TOF 3 2 c 2011 Information

IPSJ SIG Technical Report Vol.2012-CG-148 No /8/29 3DCG 1,a) On rigid body animation taking into account the 3D computer graphics came

第６２巻　第１号　平成２４年４月／石こうを用いた木材ペレット

Advanced Visual Inspection Technology with 2-Dimensional Motion Images for Film-shaped Products Sumitomo Chemical Co., Ltd. Industrial Technology & Re

07_学術.indd

情報処理学会研究報告 IPSJ SIG Technical Report Vol.2017-CG-166 No /3/ HUNTEXHUNTER1 NARUTO44 Dr.SLUMP1,,, Jito Hiroki Satoru MORITA The

VRSJ-SIG-MR_okada_79dce8c8.pdf

情報処理学会研究報告 IPSJ SIG Technical Report Vol.2016-MBL-80 No.11 Vol.2016-CDS-17 No /8/ (VR) (AR) VR, AR VR, AR Study of a Feedback Method fo

(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

2007/8 Vol. J90 D No. 8 Stauffer [7] 2 2 I 1 I 2 2 (I 1(x),I 2(x)) 2 [13] I 2 = CI 1 (C >0) (I 1,I 2) (I 1,I 2) Field Monitoring Server

5D1 SY0004/14/ SICE 1, 2 Dynamically Consistent Motion Design of Humanoid Robots even at the Limit of Kinematics Kenya TANAKA 1 and Tomo

Sobel Canny i

main.dvi

B HNS 7)8) HNS ( ( ) 7)8) (SOA) HNS HNS 4) HNS ( ) ( ) 1 TV power, channel, volume power true( ON) false( OFF) boolean channel volume int

Vol.11-HCI-15 No. 11//1 Xangle 5 Xangle 7. 5 Ubi-WA Finger-Mount 9 Digitrack 11 1 Fig. 1 Pointing operations with our method Xangle Xa

23 Fig. 2: hwmodulev2 3. Reconfigurable HPC 3.1 hw/sw hw/sw hw/sw FPGA PC FPGA PC FPGA HPC FPGA FPGA hw/sw hw/sw hw- Module FPGA hwmodule hw/sw FPGA h

Fig. 3 Flow diagram of image processing. Black rectangle in the photo indicates the processing area (128 x 32 pixels).

IPSJ SIG Technical Report Secret Tap Secret Tap Secret Flick 1 An Examination of Icon-based User Authentication Method Using Flick Input for

MmUm+FopX m Mm+Mop F-Mm(Fop-Mopum)M m+mop MSuS+FX S M S+MOb Fs-Ms(Mobus-Fex)M s+mob Fig. 1 Particle model of single degree of freedom master/ slave sy

1..FEM FEM 3. 4.

IPSJ SIG Technical Report Vol.2009-DPS-141 No.20 Vol.2009-GN-73 No.20 Vol.2009-EIP-46 No /11/27 1. MIERUKEN 1 2 MIERUKEN MIERUKEN MIERUKEN: Spe

IPSJ SIG Technical Report Vol.2011-MUS-91 No /7/ , 3 1 Design and Implementation on a System for Learning Songs by Presenting Musical St

kut-paper-template.dvi

Duplicate Near Duplicate Intact Partial Copy Original Image Near Partial Copy Near Partial Copy with a background (a) (b) 2 1 [6] SIFT SIFT SIF

2). 3) 4) 1.2 NICTNICT DCRA Dihedral Corner Reflector micro-arraysdcra DCRA DCRA DCRA 3D DCRA PC USB PC PC ON / OFF Velleman K8055 K8055 K8055

"Moir6 Patterns on Video Pictures Taken by Solid State Image Sensors" by Okio Yoshida and Akito Iwamoto (Toshiba Research and Development Center, Tosh

Gaze Head Eye (a) deg (b) 45 deg (c) 9 deg 1: - 1(b) - [5], [6] [7] Stahl [8], [9] Fang [1], [11] Itti [12] Itti [13] [7] Fang [1],

3 1 Table 1 1 Feature classification of frames included in a comic magazine Type A Type B Type C Others 81.5% 10.3% 5.0% 3.2% Fig. 1 A co

,4) 1 P% P%P=2.5 5%!%! (1) = (2) l l Figure 1 A compilation flow of the proposing sampling based architecture simulation

IPSJ SIG Technical Report Vol.2010-CVIM-170 No /1/ Visual Recognition of Wire Harnesses for Automated Wiring Masaki Yoneda, 1 Ta

(3.6 ) (4.6 ) 2. [3], [6], [12] [7] [2], [5], [11] [14] [9] [8] [10] (1) Voodoo 3 : 3 Voodoo[1] 3 ( 3D ) (2) : Voodoo 3D (3) : 3D (Welc

17 Proposal of an Algorithm of Image Extraction and Research on Improvement of a Man-machine Interface of Food Intake Measuring System

2.2 6).,.,.,. Yang, 7).,,.,,. 2.3 SIFT SIFT (Scale-Invariant Feature Transform) 8).,. SIFT,,. SIFT, Mean-Shift 9)., SIFT,., SIFT,. 3.,.,,,,,.,,,., 1,

Web Stamps 96 KJ Stamps Web Vol 8, No 1, 2004

Silhouette on Image Object Silhouette on Images Object 1 Fig. 1 Visual cone Fig. 2 2 Volume intersection method Fig. 3 3 Background subtraction Fig. 4

( ), ( ) Patrol Mobile Robot To Greet Passing People Takemi KIMURA(Univ. of Tsukuba), and Akihisa OHYA(Univ. of Tsukuba) Abstract This research aims a

THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE.

第 55 回自動制御連合講演会 2012 年 11 月 17 日,18 日京都大学 1K403 ( ) Interpolation for the Gas Source Detection using the Parameter Estimation in a Sensor Network S. T

IPSJ SIG Technical Report Vol.2014-MBL-70 No.49 Vol.2014-UBI-41 No /3/15 2,a) 2,b) 2,c) 2,d),e) WiFi WiFi WiFi 1. SNS GPS Twitter Facebook Twit

1(a) (b),(c) - [5], [6] Itti [12] [13] gaze eyeball head 2: [time] [7] Stahl [8], [9] Fang [1], [11] 3 -

A basic study on designing 3D Characters for laser-plasma scanning 3D display

Table. Stage model parameters. Mass of pole part m.4 kg Mass of table part M 22 kg Thrust viscous constant c x 2. 2 N s/m Twist dumping constant of jo

paper.dvi

Proceedings of the 61st Annual Conference of the Institute of Systems, Control and Information Engineers (ISCIE), Kyoto, May 23-25, 2017 The Visual Se

,,.,.,,. 2.,..,,,.,.,.,,,. 90%,.,,, i

The copyright of this material is retained by the Information Processing Society of Japan (IPSJ). The material has been made available on the website

4. C i k = 2 k-means C 1 i, C 2 i 5. C i x i p [ f(θ i ; x) = (2π) p 2 Vi 1 2 exp (x µ ] i) t V 1 i (x µ i ) 2 BIC BIC = 2 log L( ˆθ i ; x i C i ) + q

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 +

TCP/IP IEEE Bluetooth LAN TCP TCP BEC FEC M T M R M T 2. 2 [5] AODV [4]DSR [3] 1 MS 100m 5 /100m 2 MD 2 c 2009 Information Processing Society of

Microsoft PowerPoint - JEITA2016.ppt [互換モード]

26 3 Stereo shape constancy with active and passive movement

proc.dvi

22 Google Trends Estimation of Stock Dealing Timing using Google Trends

光学

Input image Initialize variables Loop for period of oscillation Update height map Make shade image Change property of image Output image Change time L

A Feasibility Study of Direct-Mapping-Type Parallel Processing Method to Solve Linear Equations in Load Flow Calculations Hiroaki Inayoshi, Non-member

DEIM Forum 2010 A Web Abstract Classification Method for Revie

IPSJ SIG Technical Report Vol.2011-EC-19 No /3/ ,.,., Peg-Scope Viewer,,.,,,,. Utilization of Watching Logs for Support of Multi-

藤村氏(論文1).indd

季報2010C_P _3-3.indd

CDMA (high-compaciton multicarrier codedivision multiple access: HC/MC-CDMA),., HC/MC-CDMA,., 32.,, 64. HC/MC-CDMA, HC-MCM, i

IPSJ SIG Technical Report Vol.2009-CVIM-167 No /6/10 Real AdaBoost HOG 1 1 1, 2 1 Real AdaBoost HOG HOG Real AdaBoost HOG A Method for Reducing

IPSJ SIG Technical Report Vol.2012-HCI-149 No /7/20 1 1,2 1 (HMD: Head Mounted Display) HMD HMD,,,, An Information Presentation Method for Weara

h1_h4.eps


IPSJ SIG Technical Report Vol.2016-CE-137 No /12/ e β /α α β β / α A judgment method of difficulty of task for a learner using simple

2 1 ( ) 2 ( ) i

Visual Evaluation of Polka-dot Patterns Yoojin LEE and Nobuko NARUSE * Granduate School of Bunka Women's University, and * Faculty of Fashion Science,

1 Table 1: Identification by color of voxel Voxel Mode of expression Nothing Other 1 Orange 2 Blue 3 Yellow 4 SSL Humanoid SSL-Vision 3 3 [, 21] 8 325

Fig. 2 28th Ryuou Tournament, Match 5, 59th move. The last move is Black s Rx5f. 1 Tic-Tac-Toe Fig. 1 AsearchtreeofTic-Tac-Toe. [2] [3], [4]

IHI Robust Path Planning against Position Error for UGVs in Rough Terrain Yuki DOI, Yonghoon JI, Yusuke TAMURA(University of Tokyo), Yuki IKEDA, Atsus

2016 [1][2] H.264/AVC HEVC HEVC

DPA,, ShareLog 3) 4) 2.2 Strino Strino STRain-based user Interface with tacticle of elastic Natural ObjectsStrino 1 Strino ) PC Log-Log (2007 6)

０８０１２９７，繊維学会ファイバ１１月号／報文－０１－青山

IPSJ SIG Technical Report Vol.2009-CVIM-169 No /11/ Stereo by the horizontal rotary movement of the upswing fisheye camera Sat

.,,, [12].,, [13].,,.,, meal[10]., [11], SNS.,., [14].,,.,,.,,,.,,., Cami-log, , [15], A/D (Powerlab ; ), F- (F-150M, ), ( PC ).,, Chart5(ADIns

パナソニック技報

25 AR 3 Property of three-dimensional perception in the wearable AR environment

IPSJ SIG Technical Report Pitman-Yor 1 1 Pitman-Yor n-gram A proposal of the melody generation method using hierarchical pitman-yor language model Aki

SICE東北支部研究集会資料(2004年)

Optical Flow t t + δt 1 Motion Field 3 3 1) 2) 3) Lucas-Kanade 4) 1 t (x, y) I(x, y, t)

情報処理学会研究報告 IPSJ SIG Technical Report Vol.2013-CVIM-186 No /3/15 EMD 1,a) SIFT. SIFT Bag-of-keypoints. SIFT SIFT.. Earth Mover s Distance

FabHetero FabHetero FabHetero FabCache FabCache SPEC2000INT IPC FabCache 0.076%

(SAD) x86 MPSADBW H.264/AVC H.264/AVC SAD SAD x86 SAD MPSADBW SAD 3x3 3 9 SAD SAD SAD x86 MPSADBW SAD 9 SAD SAD 4.6

DEIM Forum 2009 C8-4 QA NTT QA QA QA 2 QA Abstract Questions Recomme

Transcription:

AR 1,a) 1 1 AR AR AR 5 1deg AR,,, AR Markers Enabling Accurate Pose Estimation even in Frontal bservation Tanaka Hideuki 1,a) Sumi Yasushi 1 Matsumoto Yoshio 1 Abstract: AR markers are useful tools for eas AR, but have a serious problem that the accurac of pose estimation gets worse especiall in frontal observation. We solved the problem b developing novel AR markers based on a new principle. The proposed markers generate moiré patterns b lenticular lenses or a microlens arra, which seem to move according to the visual-line angles. We realized high-accurac and stable pose estimation b image processing of the patterns. Kewords: AR marker, pose estimation, lenticular lens, microlens arra 1. AR Augmented Realit ARToolKit[1] 1 AIST, Tsukuba, Ibaraki, 35 858, Japan a) hideuki-tanaka@aist.go.jp [] AR AR AR AR AR c 1 Information Processing Societ of Japan 1

AR. AR AR Lenti- Mark[3] 1 LentiMark AR ARToolKitPlus 1 3 ArraMark ArraMark 5). ID ArraMark 9 1 Lens area Reference points () ArraMark prototpe 5 1 9 Design of ArraMark. Paste Lenticular lens Stripe pattern 3. 7 1 Pattern variation of LentiMark LentiMark and the structure of variable moiré pattern. Microlens arra Stripe pitch is slightl wider than lens pitch Angle change Black part moves Print Crisscross pattern Structure of lens-area of ArraMark. 3 Principle of moiré movement (Reprint from [3]) LentiMark AR- ToolKitPlus LentiMark 1deg 3. AR 7 Microlens (A) Center of lens Crisscross pattern (B) Center lens Relation between lenses and crisscrosses. 3.1 LentiMark AR ArraMark 7) c 1 Information Processing Societ of Japan

3.3 ArraMark 8 9 [] Rectangle detection Resize DF pose estimation Modif attitude Four points detection Sampling points (7 +1) 11 [piel] Calculate visual-line angle Scan Transform 3[piel] Binarize Mask processing <Fine> <Coarse> Localization of crisscross Mask image 5[piel] 1 Pose estimation procedure 8 Movement of crisscross according to seeing angle ( c, c ) k θ v c Integrated image Visual lines Lenses Crisscross pattern Vertical line Viewpoint L Visual line crisscross 9 Principle of movement of image according to visual-line angle. 11 Definition of two-dimensional visual-line angles. ArraMark.1., 1.1 AR ArraMark H CM. 1.3 θ ϕ 11 θ, ϕ θ ϕ 1 1 c c c = ( ) T c = k = c - c = c - c = tan -1 ( / ) Calculation of visual-line angles from crisscross position.. H AM =H CM R mod (1) H AM ArraMark H CM R mod H CM R mod c 1 Information Processing Societ of Japan 3

Pv r Pv c 13,1 13 d L P crisscross from crisscross Calculation of viewpoint 1 P from crisscross P vr from reference points Homogeneous transform H ρ ρ Rotation ais Pose modification..1 Pv c (1) θ ϕ Lv c () Lv c d Pv c d H CM.. Pv r Pv c ρ H ρ. R mod R mod =H 1 ρ. ArraMark (1) (1) H AM H CM ArraMark 5. ArraMark ArraMark 5.1 ArraMark ( 1 1) T USB. CMS ARTCAM-3SS-BW (ARTRAY C.,LTD.) 758 [piel] CPU bit,.8ghz, RAM 8GB) C/C++ pencv.3. 5. 5..1 ArraMark 5.1 8[Hz] 5.. [piel] 5..3 ArraMark ±1[deg] ArraMark 9[piel] 15. 1 1 1 8 Z-ais direction error [deg] Conventional method ArraMark -57 - - -1-8 - 8 1 58 Scale 1/5 Scale 1/5 Rotation angle [deg] 15 Average of result [deg] (Rotation angle: -1~11[deg]) Conv.method ArraMark.81.3 std.dev. 1.51.1.1.7 std.dev. 1.5.9 3.51.1 std.dev..11.13 Comparison of ais direction error between ArraMark and conventional method ArraMark 5.. θ 1[deg] 1[deg] ArraMark 5..5 1 ArraMark 5.. 17 c 1 Information Processing Societ of Japan

Angle error [deg] #1 Coventional method ArraMark Marker size: piel # #1 # #3 # Far Near bservation distance Marker size: 5piel 1 Angle error of perpendicular line of marker according to observation distance ArraMark Angle error [deg] 8 Coventional method ArraMark #1 # #3 # #5 # #7 Dark Bright Brightness #1 # #7 Marker size: 5piel 17 Variation of angle error of perpendicular line of marker according to illumination. Conclusion AR LentiMark ArraMark AR AR CG [1] ARToolKit Homepage: http://www.hitl.washington.edu/artoolkit/ [] Y.Uematsu, H.Saito: Improvement of Accurac for D Marker-Based Tracking Using Particle Filter, inproc. 17th Intl. Conf. Artificial Realit and Teleistence 7, pp.183 189, 7. [3] H. Tanaka, Y. Sumi, Y. Matsumoto: A Visual Marker for Precise Pose Estimation based on Lenticular Lenses, Proc. 1 IEEE International Conference on Robotics and Automation (ICRA1), pp.5-57, 1.5.1-18,St. Paul, MN, USA. [] M. G. Lippmann: Epreuves reversibles donnant la sensation du relief, J. Phs. (Paris) 7, 81 85 (198). c 1 Information Processing Societ of Japan 5

2024 © docsplayer.net プライバシー | 利用規約 | フィードバック