能動カメラによる運動物体追跡と実時間3次元形状復元  [in Japanese] Real - Time Object Tracking and 3D Reconstruction by Active Camera  [in Japanese]

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Abstract

動いている物体に対し、カメラのパン、チルト角を能動的に制御して対象上のある点を注視し続け,得られた画像の系列から実時間で3次元形状を復元するシステムを構築した.物体上のある点を画像上のある一点に常に留めるようにカメラの首振りを制御する(注視制御と呼ぶ)と,物体の運動がその点を中心とした回転運動とみなせる画像が得られる.この画像を用いると,注視点以外の点のオプティカルフローから,その物体の3次元形状を復元できる.この原理に基づいて,並列画像処理ボード,および,首振りカメラを中心として運動物体追跡による実時間3次元形状復元システム構築した.一般にオプティカルフローの計算はコストが高く,実時間化への障壁となっている.これを克服するため,本研究では並列画像処理ボードを用いて処理を行う.そして,計算の効率化をはかることで,画像の入力から3次元形状の復元までの一連の処理を通常のビデオフレーム間隔(33ms)内で完了することができた.This paper reports a system to track a moving object and recover its 3D shape in real time. When a camera follows the object by fixing a point at the image center, the obtained images are just equivalent to those obtained when the object rotates around the point. Then, we can recover its 3D shape from the optical flows of the object points other than the fixed point. Based on this principle, we constructed a real time system by using a pan-tilt camera and a parallel processing unit. 256 PE's in the parallel processing unit overcome the computation costs of the optical flows by effectively rearranging the image data within them, and achieve the total computation from image input to 3D reconstruction within video-frame interval (33ms).

This paper reports a system to track a moving object and recover its 3D shape in real time.When a camera follows the object by fixing a point at the image center, the obtained images are just equivalent to those obtained when the object rotates around the point.Then, we can recover its 3D shape from the optical flows of the object points other than the fixed point.Based on this principle, we constructed a real time system by using a pan-tilt camera and a parallel processing unit.256 PE's in the parallel processing unit overcome the computation costs of the optical flows by effectively rearranging the image data within them, and achieve the total computation from image input to 3D reconstruction within video-frame interval (33ms).

Journal

  • IPSJ SIG Notes. CVIM

    IPSJ SIG Notes. CVIM 1998(46(1998-CVIM-111)), 57-64, 1998-05-27

    Information Processing Society of Japan (IPSJ)

References:  6

Codes

  • NII Article ID (NAID)
    110002674366
  • NII NACSIS-CAT ID (NCID)
    AA11131797
  • Text Lang
    JPN
  • Article Type
    Technical Report
  • ISSN
    09196072
  • Data Source
    CJP  NII-ELS  IPSJ 
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