@article{oai:ipsj.ixsq.nii.ac.jp:00018038,
 author = {宮川, 勲 and 石川, 裕治 and 若林, 佳織 and 荒川, 賢一 and Isao, Miyagawa and Yuji, Ishikawa and Kaoru, Wakabayashi and Kenichi, Arakawa},
 issue = {SIG13(CVIM10)},
 journal = {情報処理学会論文誌コンピュータビジョンとイメージメディア（CVIM）},
 month = {Dec},
 note = {本論文では，車両移動観測で取得した全方位画像系列からの市街地空間の3 次元構造復元法を提案する．まず，全方位カメラの移動観測を表す車両運動投影モデルに基づき，全方位画像系列からカメラ運動と3 次元形状を獲得する．次に，各系列で獲得したカメラ運動と3 次元形状から，スケールパラメータを使って市街地空間の3 次元構造を逐次的に復元する．実験では，従来法と提案法をシミュレーションと実画像に適用し，提案法の有効性を示す．また，逐次的に復元した市街地の3 次元構造において提案法により良好な結果が得られることを示す．, We propose a recovery method of 3D urban structure from omnidirectional image sequences captured in vehicle mobile observation. At first, our method acquires camera motion and 3D shape from omnidirectional image sequences based on a projection model of vehicle motion, which represents an omnidirectional projection in mobile observation. Next, the method recovers sequentially 3D structure of urban space using scale parameters from the camera motion and the 3D shape, each of which is acquired from each sequence. Both simulated and real images have been used to evaluate an existing method and the proposed method, and we show that the proposed method is more effective to recover camera motion and 3D shape. Our experiments show that good results for 3D structure recovery of urban space are obtained by the proposed method.},
 pages = {34--53},
 title = {車両運動投影モデルに基づく全方位画像系列からの市街地空間の3次元構造復元},
 volume = {45},
 year = {2004}
}