Abstract
This study investigates a technique combining middle view field stereo cameras with a rotation mechanism and a wide view field camera to recognize running environment of both front and side of a vehicle. A fusing module of the images from the wide view field and stereo cameras is developed, where complicated data processes such as coordinate transformation, image fusing, etc. are executed on CPU-type processing units and primary processes of image data such as extraction of object regions from color images, labelling of extracted object regions, etc. are executed on CPLDs (Complex Programmable Logic Devices). Algorithms of labelling, compensation of the distortion occurred in wide view field images, and fusing the depth image from the stereo cameras into the image from the wide view field camera are implemented on the fusing module. Several experiments of image fusing for well-ordered indoor scenes show the applicability of the module to indoor situations.
| Original language | English |
|---|---|
| Pages (from-to) | 1371-1379 |
| Number of pages | 9 |
| Journal | Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 70 |
| Issue number | 5 |
| Publication status | Published - May 2004 |
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Keywords
- Autonomous Running Vehicle
- Image Fusing
- Measurement and Control
- Mechatronics and Robotics
- Recognition of Environment
- Stereo Cameras
- Wide View Field Camera
ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Development of a fusing module of the images from wide view field and stereo cameras for an autonomous running vehicle. / Gofuku, Akio; Seiriki, Yoshiharu; Nagai, Isaku; Tanaka, Yutaka.
In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 70, No. 5, 05.2004, p. 1371-1379.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Development of a fusing module of the images from wide view field and stereo cameras for an autonomous running vehicle
AU - Gofuku, Akio
AU - Seiriki, Yoshiharu
AU - Nagai, Isaku
AU - Tanaka, Yutaka
PY - 2004/5
Y1 - 2004/5
N2 - This study investigates a technique combining middle view field stereo cameras with a rotation mechanism and a wide view field camera to recognize running environment of both front and side of a vehicle. A fusing module of the images from the wide view field and stereo cameras is developed, where complicated data processes such as coordinate transformation, image fusing, etc. are executed on CPU-type processing units and primary processes of image data such as extraction of object regions from color images, labelling of extracted object regions, etc. are executed on CPLDs (Complex Programmable Logic Devices). Algorithms of labelling, compensation of the distortion occurred in wide view field images, and fusing the depth image from the stereo cameras into the image from the wide view field camera are implemented on the fusing module. Several experiments of image fusing for well-ordered indoor scenes show the applicability of the module to indoor situations.
AB - This study investigates a technique combining middle view field stereo cameras with a rotation mechanism and a wide view field camera to recognize running environment of both front and side of a vehicle. A fusing module of the images from the wide view field and stereo cameras is developed, where complicated data processes such as coordinate transformation, image fusing, etc. are executed on CPU-type processing units and primary processes of image data such as extraction of object regions from color images, labelling of extracted object regions, etc. are executed on CPLDs (Complex Programmable Logic Devices). Algorithms of labelling, compensation of the distortion occurred in wide view field images, and fusing the depth image from the stereo cameras into the image from the wide view field camera are implemented on the fusing module. Several experiments of image fusing for well-ordered indoor scenes show the applicability of the module to indoor situations.
KW - Autonomous Running Vehicle
KW - Image Fusing
KW - Measurement and Control
KW - Mechatronics and Robotics
KW - Recognition of Environment
KW - Stereo Cameras
KW - Wide View Field Camera
UR - http://www.scopus.com/inward/record.url?scp=3242773626&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=3242773626&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:3242773626
VL - 70
SP - 1371
EP - 1379
JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 5
ER -