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Uniform Optical Flow Model by Foveation Effect for Virtual Cylindrical Screen Algorithm
Sota Shimizu,Takumi Hashizume 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper focuses on extending the Virtual Cylindrical Screen (VCS) algorithm for detecting stationary objects inside a VCS, when a sensor moves forward along the optical axis. Effect by foveation in use of the VCS algorithm are simulated and discussed by comparing a pinhole camera (PHC) model with 2 foveation models, that is, a sine curve (SC) model and Advanced Wide Angle Foveated (AdWAF) odel. The foveation models reduce the optical flow and also its variation. Correction weight function (CWF) is defined for estimating error of the optical flow computed in each image model. Moreover, Uniform Optical Flow (UOF) model is designed as a foveation model for the VCS algorithm, and its properties are discussed. Accuracy of the optical flow corresponding to the VCS is simulated using CWF. AdWAF model has advantages of accuracy comparing with not only the PHC model but also the SC model when the v??t /R is less than 0.14. Experiments using the Lucas-Kanade method are demonstrated for the images by UOF model.
Taro Suzuki,Yoshiharu Amano,Jun-ichi Takiguchi,Takumi Hashizume,Shinji Suzuki,Atsushi Yamaba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a low-cost and flexible vegetation monitoring system and compares it with traditional remote sensing systems usch as airplanes and staellites. We have developed a small unmanned aerial vehicle(UAV) equipped with visible and infrared cameras for vegetation obsevation. This system can automatically generate widespread high-resolution mosaic image and calculate the vegetation index from the multiple aerial images collected by an autonomous flight of the UAV. We performed monitoring experiments at Yawata moor in Hiroshima Prefectrue. From the experimental results, we conclued that the small UAV system was effective and useful for carrying out low-cost and flexible vegetation monitoring.
Aerial Cable Localization and Management Using a Mobile Mapping System
Kiichiro Ishikawa,Syuhei Ono,Jun-ichi Takiguchi,Yoshiharu Amano,Takumi Hashizume 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Aerial cables in urban area are complicated. On the other hand, to check interferences between heavy machines and road features, a safety and efficient 3D road environment survey system’s necessity is increasing in the field of civil engineering. In this paper, efficient and robust aerial cable measurement method using a Mobile Mapping System (MMS) and its automatic extraction method from 3D point cloud model are introduced. And the MMS enablesto measure the road 3D environment and reconstruct 3D environment efficiently. The MMS can acquire road environment data at the cruising speed. The MMS enables to detect aerial cables in excess of 6mm, and its detection ratio is 99.6%. The extracted aerial cable is registered to GIS and the result of registration to a GIS is introduced.