Topics

2017.01.16

【Awards and Commendations】Tsubasa Goto, Department of Precision Engineering, wins a Best Paper Award at The International Workshop on Advanced Image Technology (IWAIT2017).

On 10Th January 2017, Mr. Tsubasa Goto (M1), Dr. Sarthak Pathak, post-doctoral Yonghoon Ji, Assistant professor Hiromitsu Fujii, Associate Professor Atsushi Yamashita, Professor Hajime Asama, Department of Precision Engineering, wins a Best Paper award at The 6th International Conference on Advanced Mechatronics.

International Workshop on Advanced Image Technology (IWAIT2017) Best Paper Award. International Workshop on Advanced Image Technology provides an international forum for researchers and engineers who are interested in the field of advanced image technologies. For the Best Paper Award, the most outstanding students were commended.

 

 

In this paper, we propose a novel method for global six degree of freedoms (DoF) localization of a spherical camera in a man-made environment. Specifically, a 3D-2D matching method based on line information of a known 3D model of the environment is proposed. There are two challenging points. First is to design a unique representation of 2D line information from the image and 3D line information from the 3D environment model. Second is to evaluate similarity of the line information extracted from both a real spherical camera image taken in the environment and arbitrary 6 DoF poses in the 3D environment model in order to localize the camera. To deal with the former, a novel descriptor is designed based on a Hough space for the line information. Then, earth mover's distance (EMD) is calculated to evaluate similarity between the descriptors. We evaluated the proposed method in a real environment with its 3D model. The results demonstrated that our proposed method can effectively estimate the 6 DoF pose of a spherical camera using a single image.

It is my pleasure to have this honorable award. I am thankful to my supervisors and co-authors of this research. Our research group intends to continue to develop the localization method, hoping that our results will contribute to actual sites.