Summary of Research Project Results Under the JSPS FY2000
"Research for the future Program"



1.Research Institution Kyoto University
 
2.Research Area Physical and Engineering Sciences
 
3.Research Field Intelligent Information and Advanced Information Processing
 
4.Term of Project FY1996〜FY2000
 
5.Project Number 96P00501
 
6.Title of Project Cooperative Distributed Vision for Dynamic Three Dimensional Scene Understanding

7.Projetct Leader
Name Institution,Department Title of Position
Takashi, Matsuyama Kyoto University, Graduate School of Informatics Professor

8.Core Members

Names Institution,Department Title of Position
Michihiko, Minoh Kyoto University, Center for Information and Multimedia Studies Professor
Toshikazu, Wada Kyoto University, Graduate School of Informatics Associate Professor
Minoru, Asada Osaka University, Graduate School of Engineering Professor

9.Cooperating Researchers

Names Institution,Department Title of Position
Katsushi, Ikeuchi Tokyo University, Institute of Industrial Science Professor
Rin-ichiro, Taniguchi Kyushu University, Graduate School of Information Science and Electrical Engineering Professor
Takeshi, Shakunaga Okayama University, Faculty of Engineering Professor

10.Summary of Research Results

The goal of the project is to realize (a) dynamic real world scene understanding and (b) versatile dynamic scene visualization by a group of network-connected active cameras. We obtained the following achievements: (1) Mode of Cooperative Distributed Vision: We proposed the Dynamic Memory for asynchronous real time interaction mechanism between parallel processes. (2) Hardware/Software Platform: Using an ultra high speed network, Myrinet, we developed a PC cluster with a group of active cameras (30 PCs and 25 cameras). (3) Versatile Vision Sensors: A variety of useful vision sensors were developed, which include the Multi-Focus Camera with a Coded Aperture for real time 3D range sensing and the Fixed-Viewpoint Pan-Tilt-Zoom Camera for wide area active imaging. (4) Real-Time Moving Object Detection and Tracking: The Dynamic Memory and the Fixed-Viewpoint Pan-Tilt-Zoom Camera enable real time wide-area multi-target tracking. (5) Cooperative Object Tracking by Communicating Active Vision Agents: A cooperative multi-target tracking system was developed on the PC cluster system, where sophisticated multi-layered dynamic interactions via the dynamic memory enable real-time flexible tracking of multiple persons. (6) Active Dynamic Scene Visualization: Using the PC cluster, we developed the systems for real time 3D Video capturing, editing, and visualization. Here 3D video is NOT a CG animation but three dimensional real video that records a dynamic event in the real world as is: e.g. sports and dancing. (7) As an application of Cooperative Distributed Vision, an over-the-pacific distance learning system between UCLA and Kyoto University was developed. (8) Cooperative Robots: We developed behavior learning algorithms, with which a group of mobile robots can play soccer.
We held a series of annual international workshops to present our research achievements. Some of the achievements were patented and have been used in practical application systems.

11.Key Words

(1)Cooperative Distributed Vision、(2)Dynamic Memory、(3)3D Range Sensing
(4)Active Vision、(5)Real Time Tracking、(6)PC Cluster
(7)3D Video、(8)Distance Learning、(9)Cooperative Robots

12.References

[Reference Articles]
Author Title of Article
N. Asada Seeing Behind the Scene:Analysis of photometric Properties of Ocluding Edges by the Rerersed Projection Blurring Model
Journal Volume Year Pages Concerned
IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol.20 NO.2 1998 155-167

Author Title of Article
N. Aasada Edge and Depth from Focus
Journal Volume Year Pages Concerned
International Journal on Computer Vision Vol.26 No.2 1998 153-163

Author Title of Article
T. Wada Mutliobject Beharior Recoghition by Event Driven Selective Attention Method
Journal Volume Year Pages Concerned
IEEE Trans. Vol.PAm122 No.8 2000 873-887

Author Title of Article
S. Hiura Multi-Focus Video Camera with a Coded Aperture
Journal Volume Year Pages Concerned
IEEE Transactions on Pattern Analysis and Machine Intelligence (Submitted)      

Author Title of Article
T. Wada Fixed Viewpoint Pan-Tilt-Zoom Camera and Its Applications
Journal Volume Year Pages Concerned
The Transactions of the Institute of Electronics, Information and Communication Engineers Vol.J81DII No.6 1998 1182-1193

Author Title of Article
T. Matsuyama Real-time Depth Sensing from Multi-focus Images
Journal Volume Year Pages Concerned
Trasactions of Information Processing Society of Japan Vol.39 No.7 1998 2149-2158

Author Title of Article
T. Wada Multi-Object Beharior Recognition by Selective Attention
Journal Volume Year Pages Concerned
The Transactions of the Institute of Electronics, Information and Communicution Engineers Vol.J82bII No.6 1999 1031-1041

Author Title of Article
Chun-Kiat Ong Robust Color Segmentation Using the Dichromatic Reflection Model
Journal Volume Year Pages Concerned
Transactions of Information Processing Society of Japan Vol.40 No.8 1999 3259-3266

Author Title of Article
T. Matsuyama Real-time Object Detection and Tracking with a Fixed Viewpoint Pan-Trlt-Zoom Camera
Journal Volume Year Pages Concerned
Transactions of Information Processing Society of Japan Vol.40 No.8 1999 3169-3178

Author Title of Article
S. Hiura Multi-Focus Range Finder with Coded Aperture
Journal Volume Year Pages Concerned
The Transactions of the Institute of Electronics, Information and Communication Engineers Vol.J82bII No.11 1999 1912-1920

Author Title of Article
S. Hiura Real Time Object Tracking Using Dynamic Memory
Journal Volume Year Pages Concerned
Transactions of Information Processing Society of Japan Vol.41 No.11 2000 3082-3091

Author Title of Article
N. Ukita Incremental Observable-Area Modeling for Cooperative Tracking
Journal Volume Year Pages Concerned
Transactions of Information Processing Society of Japan (to appear)   2000  

Author Title of Article
T. Matsuyama Background Subtraction under Varying Illumination
Journal Volume Year Pages Concerned
The Transactions of the Institute of Electronics, Information and Communication Engineers (to appear)   2000  

Author Title of Article
Xiaojun WU Parallel Volume Intersection Based on Plane-to Plane Projection
Journal Volume Year Pages Concerned
Information processing Society of Japan, transactions on CVIM (to appear)      

Author Title of Article
T. Matsuyama 3D Video
Journal Volume Year Pages Concerned
O plus E Vol.23 No.1 2001 99-102

Author Title of Article
T. Matsuyama Special Issue 「Cooperative Distributed Vision」
Journal Volume Year Pages Concerned
Journal of the Robotics Society of Japan   2001  

Author Title of Article
Y. Kameda High Speed 3D Reconstruction by Pipeline Video Image Processing and Dirision of Spatio-temporal Space
Journal Volume Year Pages Concerned
Transactions of Information Processing Society of Japan Vol.40 No.1 1999 13-22

Author Title of Article
H. Miyazaki A Real-time Method of Generating Lecture Video for Multiple Users Using Multiple Cameras
Journal Volume Year Pages Concerned
The Transactions of the Institute of Electronics, Information and Communication Engineers No.J82DII NO.10 1999 1598-1605

Author Title of Article
Y. Kameda High Speed 3D Reconstruction by Spatio-Temporal Division of Video Image Processing
Journal Volume Year Pages Concerned
The Transactions of the IEICED No.J83-D No.7 2000 1422-1428

Author Title of Article
M. Asada Cooperative behavior acquisition for mobile robots in dynamically changing real worlds via vision-based reinforcement learning and development
Journal Volume Year Pages Concerned
Artificial Intelligence Vol.110 1999 275-292

Author Title of Article
E. Uchibe State Space Construction for Cooperative Behavior Acqnisition in the Enviroments Including Multiple Learning Robots
Journal Volume Year Pages Concerned
Journal of the Robotics Society of Japan (to appear)      

Author Title of Article
T. Okatani Determination of Sign of Gaussian Curvature of Surface from Photometric Data
Journal Volume Year Pages Concerned
Transactions of Information Processing Society of Japan Vol.39 No.6 1998 1965-1972

Author Title of Article
I. Shimizu A Method of Registering Multiple Range Images Obtained from Viewpoints whose Relative Position is Unknown
Journal Volume Year Pages Concerned
Transactions of SICE Vol.34 No.7 1998 807-813

Author Title of Article
K. Deguchi Factorization Method for Structure from Perspective Multi-View Image
Journal Volume Year Pages Concerned
Transactions of SICE Vol.34 No.10 1998 1321-1328

Author Title of Article
K. Deguchi Factorization Method for Structure from Perspective Multi-View Images
Journal Volume Year Pages Concerned
IEICE Trans. on IS Vol.E81-D No.11 1998 1281-1289

Author Title of Article
K. Deguchi Pseudo-Stereo for Remote Control of Robots by Motion Image Transfer
Journal Volume Year Pages Concerned
Journal of the Robotics Society of Japan Vol.17 No.2 1999 242-249

Author Title of Article
K. Deguchi Real-Time Object Tracking and 3D Reconstruction by Active Camera
Journal Volume Year Pages Concerned
Transactions of SICE Vol.35 No.5 1999 675-683

Author Title of Article
R. Ishiyama Optimal Motion Control for Image-Based Visual Servoing by Decoupling Translation and Rotation
Journal Volume Year Pages Concerned
Journal of the Robotics Society of Japan Vol.17 No.5 1999 720-727

Author Title of Article
I. Shimizu Precise Object Pose Estimation in Range Image Considering Measuremmt Error
Journal Volume Year Pages Concerned
The Transactions of the Institute of Electronics, Information and Communication Engineers Vol.J82DII No.12 1999 2298-2306

Author Title of Article
I. Shimizu A Methud for Fine Registration of Range Images Accounting for Measurement Error
Journal Volume Year Pages Concerned
Transactions of Information Processing Society of Japan Vol.40 No.11 1999 4097-4105

Author Title of Article
T. Okatani Computation of sign of Gaussian Curvature of Surface from Multiple Unknown Illuminution Images Without Knowledge of Retlectance Pnperty
Journal Volume Year Pages Concerned
Computer Vision and Image Understanding Vol.76 No.2 1999 125-134

Author Title of Article
K. Deguchi A Direct Interpretation of Dynamic Images with Camera and Object Motions for Vision Guided Robot Control
Journal Volume Year Pages Concerned
International Journal of Computer Vision Vol.37 No.1 2000 7-20

Author Title of Article
K. Deguchi 3D Fundus Shape Reconstruction and Display from Stereo Fundus Images
Journal Volume Year Pages Concerned
IEICE Trans. on Information and System Vol.E83D No.7 2000 1408-1414

Author Title of Article
T. Okatani Closed Form Solution of Local Shape From Shading at Critical Points
Journal Volume Year Pages Concerned
International Journal of Computer Vision Vol.40 No.2 2000 169-178

Author Title of Article
T. Kato Cooperative Distributed Registration for Robust Face Recognition
Journal Volume Year Pages Concerned
The Transactions of the Institute of Electronics, Information and Communication Engineers Vol.J84DII No.3 2001 500-508

Author Title of Article
N. Yamamoto Virtual Subspace Method for face Recognition Independent of Lighting Conditions
Journal Volume Year Pages Concerned
The Transactions of The Institute of Electronics, Information and Communication Engineers (to appear) Vol.J84DII No.8 2001  

Author Title of Article
S. Yonemoto Visually Guided 3-D Animation System Using Real-Time Maker-less Motion-Capture with Multiple-Camera Fusion
Journal Volume Year Pages Concerned
The Journal of the Institute of Image Information and Television Engineers Vol.54 No.3 2000 409-416

Author Title of Article
D. Arita RPV: A Real-Time Parallel Image Processing Environment on PC-cluster
Journal Volume Year Pages Concerned
The Transactions of the Institute of Electronics, Information and Communication Engineers (to be appeared) Vol.J84DII 2001  

Author Title of Article
N. Yoshida Multitarget Motion Analysis by Decentralized Cooporation
Journal Volume Year Pages Concerned
Transactions of Information Processing Society of Japan Vol.38 No.2 1997 206-214

Author Title of Article
S. Narazaki Strategies for Selecting Communication Structures in Cooperative Search
Journal Volume Year Pages Concerned
Lecture Notes in Computer Science, (to appear)      


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