81001122

open access

Version of Record

マルチセンサ ト オムニステレオビジョン オ モチイタ ジンザイ ケンシュツ ト 3ジゲン カンキョウ チズ ノ サクセイ

Human detection and 3D environmental map estimation using multisensor and Omnistereovision

Japanese (日本語)

神戸大学都市安全研究センター研究報告

12

91-102

神戸大学都市安全研究センター

2008-03

2009-06-16

Utilization of Information Technology is aggressively promoted for disaster prevention after the Great Hanshin Awaji Earthquake. Devices with electromagnetic radiation or search robots have been developed for detection of victims and estimation of three-dimensional environmental map in the house collapsed by the earthquake. However, they have problems in terms of the cost and the search time. Recently, researches arise that scatter a large amount of small sensors. This approach has advantages of the lower device cost and the faster detection of human bodies in the narrow space over the larger area than the conventional ones. However, it aimed only at the victim's detection, and the rescuers had to confirm by their eyes where the victims were. We propose, in this paper, two kinds of sensor balls with different purposes. One automatically detects human bodies and the other estimates three-dimension environmental map in collapsed house. Using these two kinds of sensor balls, we aim at a safer and prompter rescue. Under the assumption that the sensor ball is miniaturized and the price is reduced, we propose human detection by thermal image with low resolution as well as three-dimensional coordinate estimation by omni stereo camera with narrow base length using POC (Phase Only Correlation).

ステレオビジョン/ 位相限定相関法

紀要論文