{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00088185","sets":["1164:4619:6988:6990"]},"path":["6990"],"owner":"11","recid":"88185","title":["ロバストバンドル調整を用いた車載ステレオカメラのセルフキャリブレーション"],"pubdate":{"attribute_name":"公開日","attribute_value":"2013-01-16"},"_buckets":{"deposit":"fb0d396a-0a61-4101-bb7e-25b2fc799683"},"_deposit":{"id":"88185","pid":{"type":"depid","value":"88185","revision_id":0},"owners":[11],"status":"published","created_by":11},"item_title":"ロバストバンドル調整を用いた車載ステレオカメラのセルフキャリブレーション","author_link":["666309","666310","666308","666311"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ロバストバンドル調整を用いた車載ステレオカメラのセルフキャリブレーション"}]},"item_type_id":"4","publish_date":"2013-01-16","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東北大学"},{"subitem_text_value":"東北大学"},{"subitem_text_value":"東北大学"},{"subitem_text_value":"(株)日立製作所"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Tohoku University","subitem_text_language":"en"},{"subitem_text_value":"Tohoku University","subitem_text_language":"en"},{"subitem_text_value":"Tohoku University","subitem_text_language":"en"},{"subitem_text_value":"Hitachi, Ltd.","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/88185/files/IPSJ-CVIM13185010.pdf","label":"IPSJ-CVIM13185010"},"date":[{"dateType":"Available","dateValue":"2015-01-16"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-CVIM13185010.pdf","filesize":[{"value":"6.1 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"20"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"b9fe19c1-d788-42c4-ab6b-9cd37252d8d8","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2013 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"深澤至貴"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"岡谷貴之"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"出口光一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"木村宣隆"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11131797","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"車載ステレオカメラのセルフキャリブレーション，つまり車両が一般道を通常走行する際に得られる画像のみを用いたキャリブレーションの方法を述べる．具体的には，各カメラの内部パラメータおよびレンズ歪がオフラインのキャリブレーションで既知であるとし，ステレオカメラを構成する左右カメラの間の相対姿勢を推定する．この場合，自然のシーンを撮影した左右カメラの画像間でいかに外れ値のない点対応を得られるか，あるいは混入した外れ値を除去できるかが鍵となる．走行中の連続画像間および左右カメラの画像間で特徴点を追跡・対応付けてその軌跡を得，それらをすべて使用して完全な3次元復元（SfM）を行い，ロバストバンドル調整によって全体最適化をすることで，得た点対応に混入する外れ値を効果的に取り除き，高精度に目的パラメータを推定する．実験結果は，この方法がステレオカメラのキャリブレーションに有効であることを示した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告コンピュータビジョンとイメージメディア（CVIM）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2013-01-16","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"10","bibliographicVolumeNumber":"2013-CVIM-185"}]},"relation_version_is_last":true,"weko_creator_id":"11"},"id":88185,"updated":"2025-01-19T07:32:08.356682+00:00","links":{},"created":"2025-01-18T23:38:37.829785+00:00"}