Seeing through Obstacles from Arbitrary Viewpoints by Using Movable RGB-D Sensors
Seeing through Obstacles from Arbitrary Viewpoints by Using Movable RGB-D Sensors
复制标题
使用可移动 RGB-D 传感器从任意角度看清障碍
DOI：
10.2493/jjspe.83.235
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发表时间：
2017
影响因子：
--
通讯作者：
H. Asama
中科院分区：
文献类型：
--
作者：
Tatsuya Kittaka;Hiromitsu Fujii;A. Yamashita;H. Asama
本文介绍了一种生成障碍物后物体的图像的系统，就像通过障碍物看到它们一样。对于灾难应对机器人等机器人的远程操作，操作效率在很大程度上取决于视觉信息的质量。减弱现实是计算机视觉领域提出的一种生成图像的技术，在该图像中，用户仿佛通过障碍物看到了物体。该方法使用一个带有一个手臂和两个安装在机器人手臂前面和手臂上的RGB-D传感器的机器人，获取机器人遮挡区域的三维信息，并对图像进行融合以呈现透视图像，使传感器随手臂移动。该方法在静态环境下，可以方便地利用RGB-D图像的过去信息，以较低的计算代价扩展视场。用机械手机器人进行的实验表明，它能够实时从任意角度看穿障碍物。
This paper presents a system which generates images of objects behind obstacles as if they are seen through the obstacles. For remote operation of robots such as disaster response robots, operational efficiency depends heavily on quality of visual information. Diminished reality, which has been proposed in the field of computer vision, is a technique which generates images in which as if users saw objects through obstacles. The proposed method uses a robot with an arm and two RGB-D sensors attached in front of and on the arm of the robot, acquires three-dimensional information of occluded areas and integrates the images to present see-through image, letting the sensor move along with the arm. In this method, past information of RGB-D images can easily be used to expand the field of view with low calculation cost, if the environment is static. The experiments with a manipulator robot show the ability to see through obstacles from arbitrary viewpoints in real time.
使用平面扫描算法和弱校准相机来减少现实
DOI：
--
发表时间：
2011
期刊：
Progress in Informatics
影响因子：
--
作者：
Songkran Jarusirisawad;Takahide Hosokawa;and Hideo Saito
通讯作者：
and Hideo Saito