Estimation of Photo-Shoot Location with a Mobile...
Transcript of Estimation of Photo-Shoot Location with a Mobile...
National Institute of Advanced Industrial Science and TechnologyNational Institute of Advanced Industrial Science and Technology
Estimation of Photo-Shoot Location with a Mobile-Phone Camera Based on Virtualized-Reality
Environment Models
Jun NISHIDA12, Tomoya ISHIKAWA1, Koji MAKITA1, Masakatsu KOUROGI1, Jun YAMASHITA2,
Hideaki KUZUOKA2, Takeshi KURATA12
1Center for Service Research, AIST, Japan2University of Tsukuba, Japan
National Institute of Advanced Industrial Science and Technology
EBS, Post POS, MR Information Sharing• Real-virtual correspondences of products with POS
(Point-Of-Sales) systems– Facilitate modeling and designing the flow of the products by
not strongly relying on tacit knowledge.– Brought about drastic changes in retail, chain restaurant,
logistics, etc.– Realized EBS (Evidence-Based Service) to some extend.
• On the analogy…• One of the next key issues for service innovation How to Make better correspondence betweencustomers/employees/service processes/environmentand the computerized ones. Mixed-Reality Information Sharing technologies!
2
National Institute of Advanced Industrial Science and Technology
MR Information Sharing Technologies inHuman-Behavior Sensing and Visualization Research Team
3
National Institute of Advanced Industrial Science and Technology
Horizontal-Vertical Development ofMR Information Sharing Technologies
4
National Institute of Advanced Industrial Science and Technology
PDR(Pedestrian Dead-Reckoning)Estimates velocity vector, relative altitude, and actionsby measurements from waist-mounted sensor module.
Wearing sensor module on waist Easy to wear and maintain Easy to measure data for action recognition Relatively easily to apply for handheld
setting compared to shoe-mounted PDR based on Zero Velocity Updates (ZUPTs)
5
Sensor module・Accelerometers・Gyro-sensors・Magnetometers・Barometer
Handheld PDR
From PDR to PDRplus
National Institute of Advanced Industrial Science and Technology
Pedestrian Tracking System
Pedestrian dead-reckoning
RFIDreader
ActiveRFID tagID
IDRSSI
Acceleration /angular velocity
Video
3D model
Magneticvector
Magnetometer
Output of position/orientation
RF-based positioning
Surveillance camera
Atmospheric pressure
Barometer
TrajectorySensor/Data fusion(Particle filter)
Accelerometers/ gyro-sensors
Walking velocity
Position / Orientation
Trajectory matching/Velocity estimation
Absolute position
3D environment model
Velocity vector /Relative altitude /Action type
Sensor module
6
T. Ishikawa, M. Kourogi, T. Okuma, and T. Kurata, “Economic and Synergistic Pedestrian Tracking System for Indoor Environments”, In Proc. SoCPaR2009, pp.522-527, 2009.
National Institute of Advanced Industrial Science and Technology
Our goalEstimation of photo-shoot location with mobile-phone camera forInitialization and Drift Cancellation.
Pass (ground truth)Initialization
Drift Drift
Pass(estimated)Pass(estimated)
7
Cancellation Cancellation
National Institute of Advanced Industrial Science and Technology
8
Previous works~ Panorama-Based Annotation
G
Environmental mapA
B C D
E
A
B
C
F
Input frames
Position at whicha panorama is taken
PositionDirection
235 [deg]
5 [deg]
From theuser’s camera
Located Orientated
M. Kourogi, T. Kurata, et al., IWAR1999, ISWC2001
✔ A lot of panoramic images are needed for wide environments
National Institute of Advanced Industrial Science and Technology
Panorama-Based to Model Based
9
Input image Panoramic images
Input image Virtualized-Reality Environment Models
Matching
Matching
National Institute of Advanced Industrial Science and Technology
Design for coarse to fine localizationDatabase
Photo-realistic virtualized-reality environment models
Input Image
Fine estimation
SIFT
Edge
Result
Coarse estimation
SSD
ZNCC
yHistogram similarity
Coarse estim
ation result
10
National Institute of Advanced Industrial Science and Technology
Set up for experiments• Similarities for coarse estimation
– Histogram similarity in the HSV space (using H and S) – Sum of Squared Difference (SSD)– Zero-mean Normalized Cross-Correlation (ZNCC)
• Feature for fine estimation– Scale-Invariant Feature Transform (SIFT)
• Images for experiments– Real images (photos taken with an iPhone)– Generated images from a virtualized-reality model
11
National Institute of Advanced Industrial Science and Technology
Real images and generated images for experiments
Real images
Generated images
A B C
A B C
12
National Institute of Advanced Industrial Science and Technology
Image generation from a virtualized-reality model
g gPosition and orientation
used for image generation
Generated image from a virtualized-reality model
13
National Institute of Advanced Industrial Science and Technology
Generated image from a virtualized-reality model(generated by changing camera position)
14
National Institute of Advanced Industrial Science and Technology
Y
XSimilarity map (ZNCC) Real image taken with an
i-PhoneGenerated image from a virtualized-reality model
Similarity mapShooting position and orientation
of a real image
15
National Institute of Advanced Industrial Science and Technology
Experimental result : Histogram similarity in the HSV space (using H and S)Real images
Generated images Similarity of the nearest point is NOT high.
A B C
: Shooting position and orientation of a real image16
National Institute of Advanced Industrial Science and Technology
Experimental result : Similarity of Sum of Squared Difference (SSD)
Similarity of the nearest point is low.
B CReal images
Generated images
A
: Shooting position and orientation of a real image17
National Institute of Advanced Industrial Science and Technology
Experimental result : Similarity of Zero-mean Normalized Cross-Correlation (ZNCC)
・Similarity of the nearest point is comparatively high.
A B CReal images
Generated images
: Shooting position and orientation of a real image18
National Institute of Advanced Industrial Science and Technology
Generated image from a virtualized-reality model(generated by changing camera position)
19
National Institute of Advanced Industrial Science and Technology
Experimental result : Histogram similarity in the HSV space (using H and S)
-0.05
0
0.05
0.1
0.15
0.2
0.25
-100 -50 0 50 100
図5,Color 図6,Color 図7,ColorA B C
Difference of shooting orientations between real image and generated image (degree)
Similarity of the nearest point is NOT high.
Sim
ilarity
20
National Institute of Advanced Industrial Science and Technology
Experimental result : Similarity of Sum of Squared Difference (SSD)
0.5
0.55
0.6
0.65
0.7
0.75
0.8
0.85
0.9
-100 -50 0 50 100
図5,SSD 図6,SSD 図7,SSDA B C
Similarity of the nearest point is NOT high.
Difference of shooting orientations between real image and generated image (degree)
Sim
ilarity
21
National Institute of Advanced Industrial Science and Technology
Experimental result : Similarity of Zero-mean Normalized Cross-Correlation (ZNCC)
-0.3-0.2-0.1
00.10.20.30.40.5
-100 -50 0 50 100
図5,ZNCC 図6,ZNCC 図7,ZNCCA B C
Similarity of the nearest point is comparatively high.
Difference of shooting orientations between real image and generated image (degree)
Sim
ilarity
22
National Institute of Advanced Industrial Science and Technology
Sample result of SIFT matching
Real image Real image
Generated image(Almost same position)
Generated image(Different position)
23
National Institute of Advanced Industrial Science and Technology
Conclusion of coarse estimation
• HSV : NOT Appropriate– Similarity of the nearest point is NOT high.
• SSD : NOT Appropriate– Similarity of the nearest point is NOT high.
• ZNCC : Appropriate– Similarity of the nearest point is local maximal.
24
National Institute of Advanced Industrial Science and Technology
Future works
• More Experiments– in wide environments– with changing position and orientation in same time
• Observational study for fine estimation– More study with SIFT– Study with edge based method
25
National Institute of Advanced Industrial Science and Technology
Appendix 1 : Definitions of similarities
∗ ∗
∑ ∑ , ,
∑ ∑ , ∗∑ ∑ ,
∑ ∑ , ∑ ∑ ,
∑ ∑ , ∑ ∑ ,
26
National Institute of Advanced Industrial Science and Technology27
Appendix 2 : Similarity maps of ZNCC before and after the earthquake
Before
After
A
National Institute of Advanced Industrial Science and Technology28
Appendix 2 : Similarity maps of ZNCC before and after the earthquake
Before
After
B
National Institute of Advanced Industrial Science and Technology29
Appendix 2 : Similarity maps of ZNCC before and after the earthquake
Before
After
C