SEARCH
MENU

History of Robotics Research and Development of Japan2007SensingReal-time Three-dimensional Sensing for a Moving/Deforming Object using High-speed Vision for Numerous-point Analysis

Yoshihiro WatanabeUniversity of Tokyo
Takashi KomuroSaitama University
Masatoshi IshikawaUniversity of Tokyo
運動／変形物体の高速リアルタイム3次元センシング
veloped a time-sequential high-frame-rate 3D sensing system for moving and deforming objects. The system is based on multi-spot projection measurement in a single image using a high-speed vision with a co-processor for numerous-point analysis that tracks 1,000 targets at the same time. We demonstrated that our real-time 3D sensing could obtain a shape at about 1,000 fps. This type of sensing system is expected to find uses particularly in feedback applications such as robotic manipulation, inspection, vibration suppression, human-machine interfaces, and so on. We believe that our system is highly promising for these kinds of applications. As example applications, we propose a new paradigm for manipulating 3D virtual objects, namely the “Deformable Workspace”, and a new style of book digitization, “Book Flipping Scanning”, in which all pages of a book are captured while a user continuously flips through the pages without stopping on each page. 22th RSJ Best Paper Award in 2008.  
運動／変形物体の高速リアルタイム3次元センシング

Movies

photo
High-speed 3D sensing

Correspondence papers

Yoshihiro Watanabe, Takashi Komuro, and Masatoshi Ishikawa ：Real-time Three-dimensional Sensing for a Moving/Deforming Object using High-speed Vision for Numerous-point Analysis

Journal of the Robotics Society of Japan, Vol.25, No.6, pp.1005-1013, 2007 (in Japanese).

Yoshihiro Watanabe, Takashi Komuro, and Masatoshi Ishikawa：955-fps Real-Time Shape Measurement of a Moving/Deforming Object Using High-Speed Vision for Numerous-Point Analysis

2007 IEEE International Conference on Robotics and Automation (ICRA'07) (Roma, 2007.4.13) / Proceedings, pp. 3192-3197.　(http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4209583&tag=1)

Related papers

[1] Real-time Shape Measurement of a Moving/Deforming Object, http://www.k2.t.u-tokyo.ac.jp/vision/shape/

[2] Takashi Nakashima, Yoshihiro Watanabe, Takashi Komuro, Masatoshi Ishikawa: Book Flipping Scanning, 22nd Symposium on User Interface Software and Technology (UIST2009) (Victoria, 2009.10.5) / Adjunct Proceedings, pp.79-80.

[3] Yoshihiro Watanabe, Takashi Komuro, Masatoshi Ishikawa: High-resolution Shape Reconstruction from Multiple Range Images based on Simultaneous Estimation of Surface and Motion, The 12th IEEE International Conference on Computer Vision (ICCV2009) (Kyoto, 2009.10.1) / Proceedings, pp. 1787-1794.

[4] Yoshihiro Watanabe, Alvaro Cassinelli, Takashi Komuro, and Masatoshi Ishikawa: The Deformable Workspace: a Membrane between Real and Virtual Space, IEEE International Workshop on Horizontal Interactive Human-Computer Systems (Tabletops & Interactive Surfaces 2008) (Amsterdam, 2008.10.03) / Proceedings, pp. 155-162.

[5] Yoshihiro Watanabe, Takashi Komuro, and Masatoshi Ishikawa: A High-speed Vision System for Moment-based Analysis of Numerous Objects, 2007 IEEE International Conference on Image Processing(ICIP'07) (San Antonio, 2007.9.19) /Proceedings, pp. V177-V180.

[6] Yoshihiro Watanabe, Takashi Komuro, Shingo Kagami and Masatoshi Ishikawa: Parallel Extraction Architecture for Information of Numerous Particles in Real-time Image Measurement, Journal of Robotics and Mechatronics, Vol.17, No.4, pp.420-427, 2005.

[7] Yoshihiro Watanabe, Takashi Komuro, Shingo Kagami, Masatoshi Ishikawa: "Real-time Visual Measurements using High-speed Vision," Optics East (Philadelphia 2004.10.28) / Machine Vision and its Optomechatronic Applications, Proceedings of SPIE Vol. 5603, pp. 234-242.

Related Article

記事はありません。