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2017.09.20

【Awards and Commendations】Yukari Okumura, Major MSc student, Department of Precision Engineering, wins a The Robotics Society of Japan 32nd Young Investigation Excellent Award.

On 13Th September 2017, Yukari Okumura, Major MSc student, Department of Precision Engineering, wins a The Robotics Society of Japan 32nd Young Investigation Excellent Award.

The Robotics Society of Japan (RSJ) Young Investigation Excellent Award encourages young researchers’ research presentations to develop their abilities. This award is provided to young researchers and engineers who gave great research presentations at Annual Conference of the RSJ. 

  

This research proposes a novel method to improve the reconstruction accuracy for scale-reconstructible structure from motion (SfM) using refraction. SfM is a three-dimensional (3D) measurement method using a single moving camera. The conventional SfM can simultaneously estimate the 3D positions of objects and camera poses. However, the real-world scales of objects cannot be determined. To solve this problem, a SfM using refraction was proposed. In the SfM using refraction, it was verified that the object shapes could be reconstructed with their real-world scales using just two images captured through a refractive plate. However, the system of this method is unstable, and reconstruction accuracy is not sufficient. The purpose of this research is to improve the reconstruction accuracy for scale-reconstructible SfM using refraction. To that end, bundle adjustment considering the influence of refraction is proposed. We propose approaches to selection of initial values for bundle adjustment and evaluation function of the optimization. In simulations, it was verified that the 3D reconstruction was successful by applying the proposed method. 

It is a great honor to receive this award. I am thankful to my supervisors and co-authors of this research for their advices and supports. Our research group intends to continue to develop the SfM using refraction, hoping that this method can be useful in the real environment.