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Computer Vision for Visual Surveillance and Mobile Robotics
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カメラ間のシャッタータイミングのずれを利用した高速3次元位置推定
清水彰一, 藤吉弘亘.
Proc. of MIRU2004, vol. 1, pp. 428-433, July, 2004.
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Abstract:

A multiple baseline stereo vision system has been proposed and used in various fields. They require cameras to synchronize with each other for tracking objects accurately measuring depth. In this paper, we present a method for calculating 3D positions of objects using three unsynchronized cameras. The 3D position at the latest frame is estimated by linear prediction using previous two frames. Then, the 3D position is calculated once more using constraint by viewing ray information in 3D space obtained from the last image. In calculation of 3D positions at previous two frames for linear prediction, a curved surface passing through the viewing rays of previous three frames is generated, and the 3D position is calculated as an intersection point between the ray and the curved surface. Since the 3D position is calculated at every shutter timing of each cameras, the 3D position can be obtained at 90 fps. This can be useful for controlling a robot as a fast visual feedback system.
Tex Reference:

清水彰一, 藤吉弘亘. "カメラ間のシャッタータイミングのずれを利用した高速3次元位置推定", Proc. of MIRU2004, vol. 1, pp. 428-433, July, 2004.
BibTeX Reference:

@inproceedings{,
author = "清水 彰一 and 藤吉 弘亘",
title = "カメラ間のシャッタータイミングのずれを利用した高速3 次元位置推定",
booktitle = "画像の認識・理解シンポジウム(MIRU2004)",
month = "July",
year = "2004",
vol = "1",
pages = "428-433"
}
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