Bird's Eye View Image Research Articles

Bird's-eye View Image Generation with Camera Malfunction in Irradiation Environment

In this study, a gamma irradiation experiment for our proposed bird's-eye view system was conducted. Experimental results show that cameras attached to our system malfunctioned one by one in the irradiation environment, and the proposed system generated bird's-eye view images until all cameras malfunctioned.

Automatic Parking Based on a Bird's Eye View Vision System

This paper aims at realizing an automatic parking method through a bird's eye view vision system. With this method, vehicles can make robust and real-time detection and recognition of parking spaces. During parking process, the omnidirectional information of the environment can be obtained by using four on-board fisheye cameras around the vehicle, which are the main part of the bird's eye view vision system. In order to achieve this purpose, a polynomial fisheye distortion model is firstly used for camera calibration. An image mosaicking method based on the Levenberg-Marquardt algorithm is used to combine four individual images from fisheye cameras into one omnidirectional bird's eye view image. Secondly, features of the parking spaces are extracted with a Radon transform based method. Finally, double circular trajectory planning and a preview control strategy are utilized to realize autonomous parking. Through experimental analysis, we can see that the proposed method can get effective and robust real-time results in both parking space recognition and automatic parking.

Semi‐automatic parking slot marking recognition for intelligent parking assist systems

This paper proposes a semi-automatic parking slot marking-based target position designation method for parking assist systems in cases where the parking slot markings are of a rectangular type, and its efficient implementation for real-time operation. After the driver observes a rearview image captured by a rearward camera installed at the rear of the vehicle through a touchscreen-based human machine interface, a target parking position is designated by touching the inside of a parking slot. To ensure the proposed method operates in real-time in an embedded environment, access of the bird's-eye view image is made efficient: image-wise batch transformation is replaced with pixel-wise instantaneous transformation. The proposed method showed a 95.5% recognition rate in 378 test cases with 63 test images. Additionally, experiments confirmed that the pixel-wise instantaneous transformation reduced execution time by 92%.

画像処理技術を用いた着離棧操船支援用数値情報の取得

When berthing a large vessel, ship handling is very difficult. Although a lot of information such as the ship speed, yaw rate, distance to the berth, tags status, wind direction, wind speed, safety check and so on is required for berthing maneuver, such information has not been integrated so far. In order to reduce the stress of the pilot, the assistance system which can display the numerical information of the ship status (speed and distance to the berth) and bird's-eye view image was developed. The system flow is explained as follows. First, the picture is converted to bird's-eye image. Next, in this study, the distance to the berth is estimated by edge detection process. Then, the velocity component is calculated by using the image matching process. The error was identified within 16cm, 0.1knot and 0.6deg/min compared with the measurement data of K-GPS. In this study, the accuracy of the numerical information almost satisfies the specification of berthing maneuver.

ビル壁面における窓配置の規則性に注目したWeb鳥瞰画像からの窓検出

ビル壁面における窓配置の規則性に注目したWeb鳥瞰画像からの窓検出

J192014 時間遅れを考慮した移動ロボットの遠隔操作手法([J19201]ロボティクスと宇宙(1))

Communication time delay in teleoperation of a moon robot from the earth is an important subject and should be considered. Mobile robot teleoperation method considering time delay is proposed in this work. The proposed method uses a synthesized bird's-eye view image which is synthesized using environmental images captured by the mounted camera on the robot in advance without reconstructing the three-dimensional environmental model of the remote site. The virtual controlled robot which can be controlled in the virtual environment where there is no communication time delay is introduced and controlled by an operator. Communication time delay is handled by the autonomous movement of the real robot which moves autonomously to realize the movement of the controlled robot based on the controlled robot and real environmental information. We have implemented the teleoperation system which can handle communication time delay based on the proposed method. It is confirmed that the proposed method can be applied to robot teleoperation which has communication time delay according to the results of conducted experiments which have virtual time delay.

Bird's–Eye View Image for the Localization of a Mobile Robot by Means of Trilateration

In this paper we introduce a method for the localization of a low–cost mobile robot, based on the use of a monocular camera. We consider a robot moving in a bi–dimensional environment, where some landmarks are placed in known positions. The acquired image of the environment is converted into a bird's–eye view image, used to measure the distance of the robot from the landmarks, to compute the robot's position by means of trilateration. The proposed strategy is able to compute both the position and the orientation of the robot.