Mr. Nobutaka Kimura Profile

Nobutaka Kimura

at Hitachi Ltd

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Publications (7)

Proceedings Article | 3 June 2014 Paper

A robust method for online stereo camera self-calibration in unmanned vehicle system

Yu Zhao, Nobuhiro Chihara, Tao Guo, Nobutaka Kimura

Proceedings Volume 9084, 90840T (2014) https://doi.org/10.1117/12.2051005

KEYWORDS: Calibration, Cameras, Imaging systems, Stereoscopic cameras, Unmanned systems, Unmanned vehicles, Evolutionary algorithms, Detection and tracking algorithms, Roads, Global Positioning System

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Self-calibration is a fundamental technology used to estimate the relative posture of the cameras for environment recognition in unmanned system. We focused on the issue of recognition accuracy decrease caused by the vibration of platform and conducted this research to achieve on-line self-calibration using feature point's registration and robust estimation of fundamental matrix. Three key factors in this respect are needed to be improved. Firstly, the feature mismatching exists resulting in the decrease of estimation accuracy of relative posture. The second, the conventional estimation method cannot satisfy both the estimation speed and calibration accuracy at the same tame. The third, some system intrinsic noises also lead greatly to the deviation of estimation results. In order to improve the calibration accuracy, estimation speed and system robustness for the practical implementation, we discuss and analyze the algorithms to make improvements on the stereo camera system to achieve on-line self-calibration. Based on the epipolar geometry and 3D images parallax, two geometry constraints are proposed to make the corresponding feature points search performed in a small search-range resulting in the improvement of matching accuracy and searching speed. Then, two conventional estimation algorithms are analyzed and evaluated for estimation accuracy and robustness. The third, Rigorous posture calculation method is proposed with consideration of the relative posture deviation of each separated parts in the stereo camera system. Validation experiments were performed with the stereo camera mounted on the Pen-Tilt Unit for accurate rotation control and the evaluation shows that our proposed method is fast and of high accuracy with high robustness for on-line self-calibration algorithm. Thus, as the main contribution, we proposed methods to solve the on-line self-calibration fast and accurately, envision the possibility for practical implementation on unmanned system as well as other environment recognition systems.

Proceedings Article | 23 January 2012 Paper

Method for fast detecting the intersection of a plane and a cube in an octree structure to find point sets within a convex region

K, Fujimoto, N. Kimura, T. Moriya

Proceedings Volume 8301, 83010T (2012) https://doi.org/10.1117/12.906497

KEYWORDS: Cameras, Visibility, Computer graphics, Binary data, Time metrology, Clouds, Raster graphics, Algorithm development, Analytical research, Visualization

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Proceedings Article | 3 February 2009 Paper

3D object recognition using deformable model for negating sensing error

Nobutaka Kimura, Toshio Moriya

Proceedings Volume 7251, 72510K (2009) https://doi.org/10.1117/12.804913

KEYWORDS: Data modeling, 3D modeling, Detection and tracking algorithms, Sensors, Object recognition, Distance measurement, Computer simulations, Image registration, Evolutionary algorithms, Laser range finders

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Proceedings Article | 19 January 2009 Paper

Geometric alignment for large point cloud pairs using sparse overlap areas

Keisuke Fujimoto, Nobutaka Kimura, Fumiko Beniyama, Toshio Moriya, Yasuichi Nakayama

Proceedings Volume 7252, 72520A (2009) https://doi.org/10.1117/12.805765

KEYWORDS: 3D modeling, Radon, Clouds, Manufacturing, Optical alignment, Data acquisition, Statistical analysis, Sensors, Motion models, Laser scanners

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Proceedings Article | 14 February 2008 Paper

Vision robot with rotational camera for searching ID tags

Nobutaka Kimura, Toshio Moriya

Proceedings Volume 6813, 681302 (2008) https://doi.org/10.1117/12.767069

KEYWORDS: Cameras, Image processing, Imaging systems, Sensors, Environmental sensing, Robot vision, Detection and tracking algorithms, Binary data, Control systems, Laser range finders

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Proceedings Article | 17 February 2007 Paper

Camera calibrationless vision calibration for transfer robot system

Nobutaka Kimura, Toshio Moriya, Kohsei Matsumoto

Proceedings Volume 6503, 65030F (2007) https://doi.org/10.1117/12.703010

KEYWORDS: Calibration, Cameras, Imaging systems, Robotic systems, Mobile robots, Robot vision, Image processing, RGB color model, Analytical research, Binary data

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Proceedings Article | 30 January 2006 Paper

Integral videography of high-density light field with spherical layout camera array

Takafumi Koike, Michio Oikawa, Nobutaka Kimura, Fumiko Beniyama, Toshio Moriya, Masami Yamasaki

Proceedings Volume 6055, 605510 (2006) https://doi.org/10.1117/12.641334

KEYWORDS: Cameras, Spherical lenses, Imaging systems, Optical spheres, Autostereoscopic displays, LCDs, Photography, Image resolution, Image quality, Optical resolution

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Showing 5 of 7 publications

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