High-speed 3-dimensional space recognition method based on moving images of a monocular camera

如果机器人要在日常生活中真正帮助人们，识别三维坐标是必不可少的。我们的方法来自一个共同的视觉特征，即近距离的东西移动得很多，而远的东西移动得很少。我们提出了一种方法，该方法可以根据视频图像中检测到的相对运动速度来假设三维空间。通过检测直线段和匹配点来提高处理速度，该方法从图像中提取直线段。线段比像素信息更简单、更紧凑。描述了一种从线段假设机器人环境的高速系统。首先，在2004年，也就是第一年，我们计划建立转换技术来表达一条线的图像信息，并通过一段线表情来检验三维空间感知技术。并计划了他们使用这项技术的系统建设，以及一系列实时处理计划建设的可能的实验环境。2005年是第二年，高速精度的空间感知算法对一个合作机器人进行了系统化的考察，每一项多用途的利用我所识别的高质量的三维信息才能输入到这个系统中。我们最终包含了一个精度问题，但建立了由机器人执行三维空间感知的基本算法。此外，我还提出了实际应用的实施方案，并建立了一个自动移动机器人系统。我们将通过多次测量来检验针对未来提高精度的技术的建立。此外，在实际使用方面，我们将规划我所组建的系统的建设，并使用了通用的摄像头和机器人，从而实现了低成本。

The recognition of 3-dimensional coordinates is essential if robots are to truly help people in daily life. Our approach comes from the common visual characteristic that near things move a lot while far things move little. We propose a method that can hypothesize a 3-dimensional space from the relative movement speeds detected in video images. High processing speeds are achieved through the detection of line segments and matching points.The method proposed here extracts line segments from the images. Line segments are simpler and more compact than pixel information. We describe a high-speed system that hypothesizes the robot's environment from the line segments.At first, in 2004 when it was the first year, we planned establishment of conversion technique to expression for image information for a line and examined three dimensions space perception technique by segment of a line expression. And we planned construction of the system which they used this technique for, and a series of real-time processing planned construction of possible experiment environment.In 2005 when it was the second year, amount of high speed precision of space perception algorithm examined systematization of a partner robot, each item of the multi-purpose use of the three dimensions information that I recognized a high quality of an acquisition image to be able to put in this system.We finally included a problem of precision, but established basic algorithm to perform three-dimensional space perception by a robot. In addition, I advanced implementation for practical use and built a system for an auto moving robot.We are going to examine establishment of technique aiming at improvement of precision in future by measuring multiple times. In addition, in practical use side, we are going to plan construction of the system which I get together, and used a general-purpose camera and robot so that low cost can become realize.