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中村 啓太; 羽成 敏秀; 川端 邦明; 馬場 啓多*
Artificial Life and Robotics, 28(2), p.352 - 360, 2023/02
In photogrammetry, when each image captures the features of the target object for 3D reconstruction, a more highly accurate 3D reconstruction can be obtained in a shorter time from a small number of images. For this reason, effective images for 3D reconstruction must be selected. We generate test images by constructing a virtual environment and changing the shooting conditions based on the simulation for this image selection. In particular, we focus on linear trajectory shooting, in which the camera moves on a straight rail and obtains images. We verify the 3D reconstruction considering the calculation time reduction based on effective image selection. The experimental result shows that the camera pose estimation can be improved by using images obtained at multiple shooting angles in the case of linear trajectory shooting. The additional experimental result reveals that the calculation time for the reconstruction result is reduced by applying the images selected at regular intervals.
中村 啓太; 馬場 啓多*; 吉川 拓真*; 羽成 敏秀; 川端 邦明; 松本 拓
New Trends in Intelligent Software Methodologies, Tools and Techniques; Frontiers in Artificial Intelligence and Applications, Vol.355, p.427 - 438, 2022/09
It is generally difficult to measure complex shapes such as stairs with high accuracy for indoor environment scanning by the robot. Therefore, we consider the 3D (three-dimensional) reconstruction of stairs using SfM (Structure from Motion) and MVS (Multi-View Stereo) which perform 3D reconstruction from images acquired by the robot vision. In this study, we verify whether it is possible to acquire a 3D reconstruction result of stairs by using images shot while ascending and descending the stairs as input to the reconstruction method. To calculate the accuracy of the reconstruction result, we use 3D computer graphics software to generate artificial image data to be applied to the 3D reconstruction. Experimental results show that 3D reconstruction results of the stairs are more accurate by applying both images shot when ascending and descending stairs to the 3D reconstruction methods.
中村 啓太; 羽成 敏秀; 川端 邦明
Proceedings of 27th International Symposium on Artificial Life and Robotics (AROB 27th 2022) (Internet), p.771 - 775, 2022/01
画像からの三次元復元において、画像枚数が少なくても、各画像が三次元復元の対象物の特徴を捉えていれば、短時間で高精度な三次元復元を実現できることが知られている。そこで、三次元復元に有効な画像を選択するために、シミュレーションによる仮想環境の構築と撮影条件の変更により、画像選択のためのテストデータを生成することが考えられる。本研究では、直線レール上をカメラが移動して画像を撮影する場合に着目し、この場合における、三次元復元にかかる計算時間短縮を考慮した有効な画像選択条件をシミュレーションにより調査・検証する。
中村 啓太; 馬場 啓多*; 羽成 敏秀; 川端 邦明
no journal, ,
In three-denominational (3D) reconstruction from a group of images, we verify whether scaling the result of 3D reconstruction according to the size of the objects for 3D reconstruction by adding a two- denominational (2D) code whose size is known in advance to the objects. The experimental result showed the accuracy of the scaled reconstructed result was high based on the size of the reconstructed 2D code.
