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| Presentation | 2012-01-20 10:40 Visual Odometry using Shadow Information under Multi-direction and Multi-color Lighting Katsuya Aihara, Ryosuke Ezaki, Masahiro Iwahashi, Tetsuya Kimura (Nagaoka Univ. of Tech.)  PRMU2011-174 MVE2011-83 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | Demand for visual odometry to estimate the amount of movement from the video camera rises in the disaster site. In the disaster spot, disappearance of characteristics and patterns in image by dust or snow become the problem. So, we have already proposed a visual odometry by RI-POC using shadow under multi-direction and multi-color lighting, using floor image under the robot. However, in the disaster spot, the shadow caused by lighting, become misrecognition of the quantity of movement estimate. So, we proposed a visual odometry by depth edge and position of the irregularity using shadow. In this way, the recognition rate of rotation angle estimation improves. The proposing method made it possible to visual odometry from the shape of the floor that it can use when a shadow exists. |
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| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Visual Odometry / Multi-direction and Multi-color Lighting / Photometric Stereo / Shadow Extraction / POC / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 111, no. 379, PRMU2011-174, pp. 285-290, Jan. 2012. | |
| Paper # | PRMU2011-174 | |
| Date of Issue | 2012-01-12 (PRMU, MVE) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | PRMU2011-174 MVE2011-83 |
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| Conference Information | |
| Committee | PRMU MVE CQ IPSJ-CVIM |
| Conference Date | 2012-01-19 - 2012-01-20 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | PRMU |
| Conference Code | 2012-01-PRMU-MVE-CQ-CVIM |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Visual Odometry using Shadow Information under Multi-direction and Multi-color Lighting |
| Sub Title (in English) | |
| Keyword(1) | Visual Odometry |
| Keyword(2) | Multi-direction and Multi-color Lighting |
| Keyword(3) | Photometric Stereo |
| Keyword(4) | Shadow Extraction |
| Keyword(5) | POC |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Katsuya Aihara |
| 1st Author's Affiliation | Nagaoka University of Technology (Nagaoka Univ. of Tech.) |
| 2nd Author's Name | Ryosuke Ezaki |
| 2nd Author's Affiliation | Nagaoka University of Technology (Nagaoka Univ. of Tech.) |
| 3rd Author's Name | Masahiro Iwahashi |
| 3rd Author's Affiliation | Nagaoka University of Technology (Nagaoka Univ. of Tech.) |
| 4th Author's Name | Tetsuya Kimura |
| 4th Author's Affiliation | Nagaoka University of Technology (Nagaoka Univ. of Tech.) |
| Speaker | Author-1 |
| Date Time | 2012-01-20 10:40:00 |
| Presentation Time | 30 minutes |
| Registration for | PRMU |
| Paper # | PRMU2011-174, MVE2011-83 |
| Volume (vol) | vol.111 |
| Number (no) | no.379(PRMU), no.380(MVE) |
| Page | pp.285-290 |
| #Pages | 6 |
| Date of Issue | 2012-01-12 (PRMU, MVE) |
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