Ԡ༻࿦จ

ແਓඈߦધʹ౥ࡌ͞Εͨ 2 ୆ͷશํҐΧϝϥΛ༻͍ͨෆՄࢹྖҬͷͳ͍શఱ‫ ٿ‬HDR ϏσΦͷੜ੒େ૔ ࢙ੜ*1ਆ‫ ݪ‬੣೭ ∗1

ԣ໼ ௚࿨ ∗1

Aerial HDR Video Generation of Full Spherical Views
Using Two Omnidirectional Camera Units
Fumio Okura*1 , Masayuki Kanbara∗1 and Naokazu Yokoya∗1
Abstract – This paper describes a method for acquiring full spherical videos without
missing areas using a pair of omnidirectional cameras mounted on the top and bottomof an unmanned airship. Omnidirectional videos are captured as multi-exposure images
with various shutter speeds to realize high dynamic range (HDR) imaging. The generated
videos are intended to be used for telepresence, augmented telepresence, and image-based
lighting. In experiments, full spherical HDR videos are generated from image sequences
captured from the sky of our campus.
Keywords: Omnidirectional image, High dynamic range, Telepresence, Augmented
telepresence, Image based lighting

1

͸͡Ίʹ

ຊ࿦จͰ͸ɼςϨϓϨθϯε [1]ɼΠϝʔδϕʔευϥΠςΟϯάʢIBLʣ[2]ɼ֦ுςϨϓϨθϯε [3] ౳ɼ඼࣭ͷߴ͍Ծ૝‫ڥ؀‬ͷߏஙʹཁ‫͞ٻ‬ΕΔෆՄࢹྖҬͷͳ͍શఱ‫ٿ‬ಈը૾ͷੜ੒ख๏ΛఏҊ͢Δɽ຅ೖ‫ײ‬ͷߴ͍ԕִ஍ͷ৘‫ܠ‬ΛϢʔβʹఏࣔ͢Δٕज़͸ςϨϓϨθ
ϯεͱ‫ݺ‬͹Εɼଟ͘ͷ‫ߦ͕ڀݚ‬ΘΕ͍ͯΔɽಛʹɼ͋ΒθϯεͷͨΊͷશఱ‫ٿ‬ಈը૾ͷ࡞੒Λ໨తͱ͠ɼશํ
ҐΧϝϥΛ༻͍࣮ͯ‫ڥ؀‬ΛࡱӨ͢Δࡍʹੜ͡Δ 2 ͭͷ໰୊఺Ͱ͋Δ (1) ෆՄࢹྖҬͷଘࡏͱ (2) μΠφϛο
ΫϨϯδͷෆ଍Λղܾ͢ΔۭࡱγεςϜ͓Αͼಈը૾ੜ੒ख๏ΛఏҊ͢ΔɽҎ߱ɼશํҐࡱӨʹ͓͚Δ໰୊఺͓Αͼຊ‫͚͓ʹڀݚ‬ΔղܾͷͨΊͷΞϓϩʔνΛৄड़͢Δɽ

2͔͡Ί஝ੵ͞Εͨԕִ஍ͷ৘‫ܠ‬Λ༻͍Δ஝ੵ࠶ੜ‫ܕ‬ςશํҐࡱӨʹ͓͚Δ໰୊఺

ෆՄࢹྖҬͷଘࡏϨϓϨθϯεγεςϜͱͯ͠ɼ΢ΥʔΫεϧʔ [4] ΍Τ

2.1ϯλςΠϯϝϯτ౳ΛԠ༻ͱ͢Δ༷ʑͳྫ͕‫ݟ‬ΒΕΔɽ

શํҐΧϝϥΛ༻͍࣮ͯ‫ڥ؀‬ΛࡱӨ͢Δࡍɼਤ 1(a),ಛʹશఱ‫ٿ‬ը૾Λ༻͍ͨ‫ݟ‬ճ͠Մೳͳ஝ੵ࠶ੜ‫ܕ‬ςϨ

1(b) ʹࣔ͢Α͏ʹɼશํҐΧϝϥͷࢹ໺֎ɼ΋͘͠͸શํҐΧϝϥΛ౥ࡌ͢ΔҠಈମʹΑΓःณ͞ΕΔྖҬϓϨθϯε͸ɼۙ೥Ͱ͸ Google ࣾͷ Google Street

View[5] ͳͲΛ௨ͯ͡޿͘ී‫͓ͯ͠ٴ‬Γɼ౰֘‫ڀݚ‬෼໺ͷॏཁੑ͕ߴ·͍ͬͯΔɽ·ͨɼԕִ஍ͷ৘‫ܠ‬Λͦͷ
··ఏࣔ͢Δ͚ͩͰͳ͘ɼΧϝϥ౳Ͱऔಘ࣮ͨ͠‫ڥ؀‬ʢҎԼɼෆՄࢹྖҬʣ͕ଘࡏ͢ΔɽෆՄࢹྖҬͷଘࡏ͸ͷ৘‫ʹܠ‬Ծ૝෺ମΛॏ৞͢Δ֦ு‫ײ࣮ݱ‬ʢAugmented‫ڥ‬ͷܽଛʹΑΔϨϯμϦϯά඼࣭ͷ௿Լʹͭͳ͕Δɽ

Reality: ARʣ[6] ͱશํҐςϨϓϨθϯεΛ૊Έ߹ΘςϨϓϨθϯεʹ͓͍ͯ຅ೖ‫ײ‬Λଛͳ͏‫ݪ‬ҼͱͳΓɼ͞Βʹ IBL ʹ͓͍ͯ͸ϨϯμϦϯάʹඞཁͳޫ‫؀ݯ‬ෆՄࢹྖҬͷআ‫ؔ͢ʹڈ‬Δैདྷ‫ڀݚ‬͸ҎԼͷ 2 छྨ

ͤΔ͜ͱͰɼϢʔβ΁ͷ৘ใఏࣔΛޮՌతʹߦ͏֦ுͷΞϓϩʔνʹେผ͞ΕΔɽ

ςϨϓϨθϯεʢAugmented Telepresenceʣ[3] ʹؔ(1) ਪఆ͞ΕΔً౓஋Λ༻͍Δख๏͢Δ‫ߦ͕ڀݚ‬ΘΕ͍ͯΔɽจ‫[ ݙ‬3] Ͱ͸ɼશํҐςϨۭͷً౓஋Λ౷‫ܭ‬తʹϞσϧԽͨ͠ఱۭޫϞσϧϓϨθϯεͱͯ͠஝ੵ͞Εۭͨࡱશఱ‫ٿ‬ಈը૾Λ༻͍Λར༻ۭͯ͠ࡱಈը૾ʹ‫·ؚ‬ΕΔෆՄࢹྖҬΛิ‫׬‬ͯϢʔβͷ‫ݟ‬ճ͠ಈ࡞Λ࣮‫͢ݱ‬Δ͚ͩͰͳ͘ɼԾ૝෺

͢Δ‫[ ڀݚ‬3] ͕ߦΘΕ͍ͯΔɽจ‫[ ݙ‬3] Ͱ͸ɼඈߦધମͷ࣮ࣸతͳ߹੒Λ࣮‫͢ݱ‬ΔͨΊɼશఱ‫ٿ‬ը૾Λޫ‫ݯ‬ͷԼ෦ʹ౥ࡌ͞ΕͨશํҐΧϝϥ 1 ୆Ͱۭࡱ͞Εͨ‫ߴͯ͠ͱڥ؀‬඼࣭ͳӄӨ෇͚Λߦ͏ख๏Ͱ͋Δ IBL[2]ը૾ͷ্ํʹଘࡏ͢ΔෆՄࢹྖҬΛɼෆՄࢹྖҬपΛద༻͍ͯ͠ΔɽลʹөΓ͜Μۭͩͷً౓஋͔ΒఱۭޫϞσϧͷύϥ

ຊ‫Ͱڀݚ‬͸ɼςϨϓϨθϯε΍ IBLɼ֦ுςϨϓϨ*1 ಸྑઌ୺Պֶٕज़େֶӃେֶ

*1 Nara Institute of Science and Technology (NAIST)ϝʔλΛਪఆ͠ิ‫͢׬‬Δɽ·ͨɼจ‫[ ݙ‬7] ͷΑ͏ͳ1 ຕͷը૾ͷΈΛ༻͍ͨը૾म෮ͷख๏Λશఱ‫ٿ‬ը૾ʹద༻͢Δख๏΋ɼຊΞϓϩʔνʹ‫·ؚ‬ΕΔɽ೔ຊόʔνϟϧϦΞϦςΟֶձ࿦จࢽ Vol.17, No.3, 2012(2) ࣮ଌ͞ΕΔً౓஋Λ༻͍Δख๏
Kawai Β͸ɼ1 ୆ͷશํҐΧϝϥͰ஍্ΛҠಈ͠ͳ͕ΒࡱӨ͞Εͨಈը૾Λର৅ͱͯ͠ɼಈը૾தͷଞϑϨʔϜ͔ΒෆՄࢹྖҬ͓Αͼͦͷۙ๣ͱͷྨࣅྖҬΛ୳ࡧ͢Δ͜ͱʹΑΓɼ஍ද໘ʹଘࡏ͢ΔෆՄࢹྖҬΛิ‫[ ׬‬8] ͍ͯ͠Δɽิ‫׬‬ର৅ͱͳΔෆՄࢹྖҬʹຊདྷࣸΓ͜Ή΂͖৘‫͕ܠ‬ಈը૾தͷଞϑϨʔϜͰࡱӨ͞Εɼิ‫͍༻ʹ׬‬ΒΕΔɽ͜ͷΑ͏ͳख๏͸ɼ࣮ࡍʹΧϝϥʹΑͬͯ‫؍‬ଌ͞ΕΔً౓஋Λ༻͍(a) ඈߦધ্෦ͷΧϝϥ͔ΒࡱӨ͞ΕΔը૾

ͯෆՄࢹྖҬͷআ‫ڈ‬Λߦͳ͏ΞϓϩʔνͰ͋Δɽ(1) ͷΞϓϩʔν͸ෆՄࢹྖҬͷਅͷً౓஋Λ஌Δ͜ͱ͕໨తͰ͸ͳ͘ɼ͜ΕΒͷख๏ͰෆՄࢹྖҬ͕म෮͞Εͨશఱ‫ٿ‬ը૾Λ IBL ͷޫ‫͍ͨ༻ͯ͠ͱڥ؀ݯ‬৔߹ɼ࣮‫ʹڥ؀‬ੜ͡ΔӄӨͱͷ‫͕ࠩޡ‬ੜ͡Δɽಛʹɼ࠷΋‫͋Ͱݯޫ͍ڧ‬Δଠཅ͕ӢͳͲʹӅΕ͍ͯΔ͔Ͳ͏͔͕Θ͔Βͳ͍ͨΊɼଠཅपลͷً౓ਪఆͷ‫͕ࠩޡ‬େ
͖͘ͳΔՄೳੑ͕͋Δɽ·ͨɼจ‫[ ݙ‬3] ͷख๏ʹ͓͍ͯ͸ɼӢ͕‫ॴہ‬తʹଘࡏ͢ΔΑ͏ͳۭͷςΫενϟΛ(b) ඈߦધԼ෦ͷΧϝϥ͔ΒࡱӨ͞ΕΔը૾

ੜ੒͢Δ͜ͱ͕Ͱ͖ͳ͍ɽͦͷͨΊۭͷࢄཚ‫͕౓ڧ‬Ұ༷Ͱͳ͍৔߹ʹɼෆՄࢹྖҬ֎ͱେ͖͘ҟͳΔ‫͑ݟ‬ͷςΫενϟΛੜ੒͠ɼ຅ೖ‫ײ‬Λଛͳ͏‫ݪ‬ҼͱͳΔɽ͜ͷͨΊຊ‫Ͱڀݚ‬͸ɼ(2) ͷΞϓϩʔνΛ࠾༻͠ɼඈ
ߦધ্ԼʹҰରͷશํҐΧϝϥΛ্޲͖͓ΑͼԼ޲͖ʹ഑ஔ֤ͯ͠ΧϝϥͷෆՄࢹྖҬΛ૬‫͢׬ิʹޓ‬ΔΑ͏ʹࡱӨͯ͠ෆՄࢹྖҬΛআ‫͢ڈ‬Δ͜ͱͰɼ(1) ͷΞϓϩʔνͰ͸ࠔ೉Ͱ࣮͋ͬͨ‫ڥ؀‬ͷશఱ‫ٿ‬ͷً౓஋ͷ‫؍‬ଌΛ࣮‫͢ݱ‬Δɽ

2.2

μΠφϛοΫϨϯδͷෆ଍

IBL Λ༻͍֦ͨுςϨϓϨθϯε౳ͷͨΊʹશఱ‫ٿ‬ը૾Λ༻͍Δ৔߹ɼ࣮ۭؒͷً౓஋Λਖ਼֬ʹ‫ܭ‬ଌ͢Δ
ඞཁ͕͋Δɽ͔͠͠ɼ԰֎ͰͷࡱӨͷ৔߹ɼଠཅ΍ۭͳͲͷߴً͍౓Λ࣋ͭྖҬΛ௚઀ࡱӨ͢ΔͨΊɼඇৗʹߴ͍μΠφϛοΫϨϯδ͕ඞཁʹͳΔɽ԰֎γʔϯͰ͸ଠཅ͸࠷΋ओཁͳޫ‫͋Ͱݯ‬ΓɼӄӨ෇͚ͷࡍͷԾ૝෺ମͷ‫͑ݟ‬ͷมԽʹେ͖͘‫د‬༩͢Δɽ͔͠͠ɼ੖Εͨ೔ͷۭͷ࠷΋҉͍෦෼ͱ࠷΋໌Δ͍෦෼ʢଠཅͷத৺ʣͷً౓ൺ͸͓Αͦ 1 : 217 ͱ͍ΘΕ [9]ɼ8bit ͷμΠφϛοΫϨϯδΛ࣋ͭଟ͘ͷΧϝϥͰ͸๞࿨ͳ͘ࡱ
Ө͢Δ͜ͱ͕ࠔ೉Ͱ͋ΔɽࡱӨର৅ʹର͠ΧϝϥͷμΠφϛοΫϨϯδ͕ෆ଍
͢Δ৔߹ɼෳ਺ͷҟͳΔ࿐ग़஋ͰࡱӨ͞ΕͨϩʔμΠφϛοΫϨϯδʢLDRʣը૾ʢଟஈ֊࿐ग़ LDR ը૾ʣ͔ΒϋΠμΠφϛοΫϨϯδʢHDRʣը૾Λੜ੒͢
Δ Debevec Βͷख๏ [10] ͕޿͘༻͍ΒΕ͓ͯΓɼຊ‫Ͱڀݚ‬΋͜ΕΛద༻͢Δɽ͔͠͠ɼຊ‫ڀݚ‬ͷΑ͏ʹҠಈࡱӨΛߦ͏৔߹ɼଟஈ֊࿐ग़ LDR ը૾ؒͰɼࡱӨҐஔɾ࢟੎ͷมԽʹ‫ى‬Ҽ͢Δը૾্ͰͷҐஔͣΕ͕ൃ
ੜ͢Δɽຊ‫Ͱڀݚ‬͸ɼΧϝϥͷҠಈྔʹରͯ͠ࡱӨ͞(c) ෆՄࢹྖҬͷͳ͍શఱ‫ٿ‬ը૾

ਤ 1 2 ຕͷશఱ‫ٿ‬ը૾͔ΒͷෆՄࢹྖҬͷͳ͍
HDR ը૾ͷੜ੒
Fig. 1 Full spherical HDR image generationfrom two omnidirectional images

ΕΔ෺ମ͕ԕ͍৔߹ʹ΋ը૾্ͷҐஔͣΕ΁ͷӨ‫͕ڹ‬େ͖͍ɼΧϝϥͷ࢟੎มԽΛࡱӨ͞Εͨը૾‫͔܈‬Βਪఆ͢Δ͜ͱͰɼը૾্ͰͷҐஔͣΕΛิਖ਼͢Δɽ
ଟஈ֊࿐ग़ LDR ը૾ͷࡱӨʹ͓͍ͯɼ֤ը૾ΛࡱӨ͢ΔͨΊͷγϟολʔεϐʔυΛܾఆ͢Δඞཁ͕͋
Δɽ͔͠͠ຊ‫Ͱڀݚ‬૝ఆ͍ͯ͠ΔΑ͏ͳશఱ‫ࡱٿ‬Өʹ͓͍ͯ͸ɼӢ͕Ҡಈ͠ଠཅΛःณ͢ΔͳͲɼ࣌ؒʹΑͬͯपғͷޫ‫͕౓ڧݯ‬มԽ͢ΔͨΊɼγϟολʔεϐʔυΛ‫ݻ‬ఆͯ͠ࡱӨ͠ଓ͚Δ͜ͱ͸ࠔ೉Ͱ͋Δɽ͞ΒʹɼଠཅΛ‫ؚ‬Ήߴً౓ྖҬΛࡱӨՄೳͳγϟολʔεϐʔυΛܾఆͨ͠ͱ͖ɼ஍্౳ͷ௿ً౓ྖҬͰ༻͍Δ͜ͱͷͰ͖Δ֊ௐ਺͕‫ݮ‬গ͠ɼγʔϯͷ࠶‫ݱ‬ੑ͕௿
Լ͢ΔՄೳੑ͕͋Δɽͦ͜Ͱຊ‫Ͱڀݚ‬͸ɼޫ‫ڥ؀ݯ‬ͷ࣌ؒతมԽʹରԠ͠ɼ͞Βʹ௿ً౓ྖҬʹଟ͘ͷ֊ௐΛׂΓ౰ͯΔͨΊɼ࣮ࡍʹࡱӨ͞Εͨޫ‫౓ڧݯ‬ͷ෼෍͔ΒదԠతʹγϟολʔεϐʔυΛܾఆɾߋ৽͢Δɽ

େ૔ɾਆ‫ݪ‬ɾԣ໼ : ແਓඈߦધʹ౥ࡌ͞Εͨ 2 ୆ͷશํҐΧϝϥΛ༻͍ͨෆՄࢹྖҬͷͳ͍શఱ‫ ٿ‬HDR ϏσΦͷੜ੒ ྎࡢ඲᪉఩࣓࢝ࣛࢆ⏝࠸ࡓከẁ㝵㟢ฟ/'5⏬ീࡢ✵᧜ ከẁ㝵㟢ฟ/'5⏬ീ࠿ࡽࡢ+'5⏬ീ⏕ᡂ ୖୗ࣓࢝ࣛ࠿ࡽ᧜ᙳࡉࢀࡓ
+'5⏬ീࡢྜᡂ

ਤ3ແਓඈߦધͷ֎‫ࡱͱ؍‬Өʹ༻͍ͨશํҐΧϝϥ
Fig. 3 Unmanned airship and omnidirectional cameras

ਤ 2 ఏҊख๏ͷॲཧͷྲྀΕ
Fig. 2 Flow of proposed aerial imaging

·ͨɼ্޲͖ͷશํҐΧϝϥ͸ଠཅ΍ۭΛ௚઀‫؍‬ଌ͢ΔͨΊʹɼγϟολʔεϐʔυΛ୹͘ઃఆͯ͠΋ً౓஋ͷ๞࿨͕ൃੜ͢ΔɽͦͷͨΊɼଠཅ΍ۭΛ๞࿨ͳ͘ࡱӨ͢Δैདྷ‫[ ڀݚ‬9] ͱಉ༷ʹɼ্޲͖ͷશํҐΧϝϥʹ‫ޫݮ‬ʢNDʣϑΟϧλΛऔΓ෇͚Δɽ(2) ଟஈ֊࿐ग़ LDR ը૾͔Βͷ HDR ը૾ੜ੒ଟஈ֊࿐ग़ LDR ը૾͔Β্ԼΧϝϥͦΕͧΕͷ
HDR ը૾Λੜ੒͢Δɽଟஈ֊࿐ग़ LDR ը૾ؒʹ͸ɼࡱӨ࣌ͷΧϝϥͷҠಈ͓Αͼ࢟੎มԽʹΑͬͯҐஔͣΕ͕ൃੜ͢Δɽຊ‫Ͱڀݚ‬͸ͦͷதͰ΋ը૾্ͷҐஔͣΕ΁ͷӨ‫͕ڹ‬େ͖͍Χϝϥͷ࢟੎มԽΛਪఆ͠ɼը૾

ҎԼͰ͸ɼຊ‫Ͱڀݚ‬ఏҊ͢ΔγεςϜΛ (1)2 ୆ͷશํҐΧϝϥΛ༻͍ͨଟஈ֊࿐ग़ LDR ը૾ͷۭࡱɼ(2)ิਖ਼Λߦ͏ɽ

ԼΧϝϥ͔ΒࡱӨ͞Εͨը૾ͷ߹੒ɼͷ 3 εςοϓʹ

(3) ্ԼΧϝϥ͔ΒࡱӨ͞Εͨ HDR ը૾ͷ߹੒(2) Ͱੜ੒͞Εͨ 2 ຕͷ HDR ը૾Λ߹੒͠ɼ1 ຕͷશఱ‫ ٿ‬HDR ը૾Λੜ੒͢Δɽຊ‫͍༻Ͱڀݚ‬Δඈߦધ

෼͚ͯৄड़͢Δɽ࠷‫ʹޙ‬ɼ࣮ࡍʹຊֶΩϟϯύε্ۭ͸‫ܗ‬ঢ়มԽ͕ൃੜ͢ΔͨΊɼ2 ୆ͷશํҐΧϝϥؒͷ͔ΒࡱӨ͞Εͨը૾‫܈‬Λ༻͍ͯશఱ‫ ٿ‬HDR ը૾Λੜ૬ରతͳҐஔؔ܎Λ‫ݻ‬ఆ͢Δ͜ͱ͸ࠔ೉Ͱ͋Δɽͦͷ੒͢Δ࣮‫͍ͯͭʹݧ‬ड़΂ɼͦͷ݁Ռʹ͍ͭͯߟ࡯͢ΔɽͨΊɼ֤Χϝϥ͔ΒࡱӨ͞Εͨը૾ͷॏෳྖҬ͔Β૬ෆՄࢹྖҬͷͳ͍શఱ‫ ٿ‬HDR ը૾ͷੜ੒ରతͳ࢟੎มԽΛਪఆ͠ɼҐஔ߹ΘͤΛߦ͏ɽ·ͨɼND ϑΟϧλͷ༗ແʹΑΔ৭ௐͷҧ͍Λิਖ਼͢Δɽ

ଟஈ֊࿐ग़ LDR ը૾‫͔܈‬Βͷ HDR ը૾ੜ੒ɼ(3) ্

3

3.1 ֓ཁ
ຊ‫Ͱڀݚ‬͸ɼඈߦધͷ্ԼʹऔΓ෇͚ΒΕͨ 2 ୆ͷશํҐΧϝϥͰࡱӨͨ͠ը૾Λ༻͍ͯɼͦΕͧΕͷෆՄࢹྖҬΛิ‫͢׬‬ΔΑ͏ʹ߹੒͠ɼෆՄࢹྖҬͷͳ͍શఱ‫ٿ‬ը૾Λੜ੒͢Δɽ·ͨɼ֤શํҐΧϝϥͷγϟο
λʔεϐʔυΛஈ֊తʹมԽͤͯ͞ࡱӨ͞Εͨ LDRը૾‫܈‬Λ߹੒͢Δ͜ͱͰ HDR ը૾Λੜ੒͢ΔɽఏҊख๏ͷྲྀΕΛਤ 2 ʹࣔ͢ɽਤ 2 ӈ͸ҎԼͰड़΂
Δ֤ॲཧͰࡱӨɾੜ੒͞ΕΔը૾ͷྫͰ͋Δɽ(1) 2 ୆ͷશํҐΧϝϥΛ༻͍ͨଟஈ֊࿐ग़ LDR ը૾ͷۭࡱඈߦધͷ্෦ʹ্޲͖ɼԼ෦ʹԼ޲͖ʹɼҰରͷશํҐΧϝϥʢ্ΧϝϥɼԼΧϝϥʣΛऔΓ෇͚ɼγϟολʔεϐʔυΛมԽͤ͞ͳ͕Βಈը૾ΛࡱӨ͢Δɽඈ
ߦધͷ্ํ͔ΒࡱӨ͞ΕΔγʔϯʹ͸ओʹଠཅ΍ۭ͕‫·ؚ‬Εɼຊ‫͍༻Ͱڀݚ‬ΔશํҐΧϝϥͰઃఆՄೳͳ࠷
୹ͷγϟολʔεϐʔυͰࡱӨΛߦͬͯ΋ً౓஋ͷ๞࿨͕‫͜ى‬ΔͨΊɼ্Χϝϥʹ͸‫ޫݮ‬ϑΟϧλʢND ϑΟϧλʣΛऔΓ෇͚Δɽ·ͨɼগͳ͍ࡱӨຕ਺Ͱ޿͍μΠφϛοΫϨϯδΛ‫ܭ‬ଌ͢ΔͨΊɼҎલͷϑϨʔϜͰࡱӨ͞Εͨը૾ͷώετάϥϜΛ༻͍ͯγϟολʔεϐʔυΛಈతʹࣗಈઃఆ͢Δɽ

ҎԼɼ্ड़ͷॲཧ (1)ʙ(3) ʹ͍ͭͯৄड़͢Δɽ

3.2

2 ୆ͷશํҐΧϝϥΛ༻͍ͨଟஈ֊࿐ग़ LDRը૾ͷۭࡱ

2 ୆ͷશํҐΧϝϥͱඈߦધΛ༻͍ۭͨࡱγεςϜຊ‫Ͱڀݚ‬͸ɼਤ 3 ʹࣔ͢શ௕ 12m ͷϥδίϯແਓඈߦધΛ༻͍ۭͯࡱΛߦ͏ɽඈߦધʹ͸ۭࡱը૾Λऔ
ಘ͢ΔͨΊͷશํҐϚϧνΧϝϥγεςϜ Ladybug2
ʢPoint Grey Research ࣾ੡ʣΛ্޲͖ɼ͓ΑͼԼ޲͖ʹ‫ ܭ‬2 ୆औΓ෇͚ΔɽLadybug2 ͷ࢓༷Λද 1 ʹࣔ
ද 1 શํҐϚϧνΧϝϥ Ladybug2 ͷ࢓༷Table 1 Speciﬁcations of omnidirectional
multi-camera unit Ladybug2߲໨ৄࡉɹ౥ࡌΧϝϥ਺
Χϝϥղ૾౓Χόʔ͢Δࢹ໺
౥ࡌ CDDϑϨʔϜϨʔτॏྔγϟολʔεϐʔυ֨ೲ༻Ϩδελ਺6୆
768×1024શఱ‫ࢹٿ‬໺ͷ 75% Ҏ্Sony ICX204AK
࠷େ 30fps
1.1kgʢόοςϦআ͘ʣ
4 ʢଟஈ֊࿐ग़LDR ը૾ࡱӨ༻ʣ೔ຊόʔνϟϧϦΞϦςΟֶձ࿦จࢽ Vol.17, No.3, 2012

͢ɽLadybug2 ʹ͸γϟολʔεϐʔυΛ֨ೲͰ͖Δ
Ϩδελ͕ 4 ͭ༻ҙ͞Ε͓ͯΓɼ͜ΕΒΛ੾Γସ͑ͳछྨͷγϟολʔεϐʔυΛ੾Γସ͑ͳ͕ΒࡱӨ͞Εͨɼ࿐ग़ͷҟͳΔ 4 ຕͷ LDR ը૾͔Β HDR ը૾Λ⏬⣲ᩘ͕ΒࡱӨΛߦ͏͜ͱ͕Ͱ͖ΔɽΑͬͯɼຊ‫Ͱڀݚ‬͸ 4

ੜ੒͢Δɽ2 ୆ͷશํҐΧϝϥ͸ 1 ୆ͷ PC ʹ઀ଓ͞Εɼ֤ࡱӨը૾ʹλΠϜελϯϓ͕෇༩͞ΕΔɽຊ‫ݚ‬‫Ͱڀ‬͸ɼ࢖༻ΧϝϥͷߜΓ͓Αͼγϟολʔεϐʔυ

0㍤ᗘΛ࠷খʹઃఆ͠ࡱӨͨ͠ࡍ΋ً౓ͷ๞࿨͕ΈΒΕͨͨ1Ίɼओʹଠཅ΍ۭΛࡱӨ͢Δ্Χϝϥʹ͸ޫྔΛ 100ʹ‫ݮ‬ਰ͢Δ ND ϑΟϧλͰ͋Δ ND 2.0ʢ෋࢜ϑΟϧϜࣾ੡ʣΛऔΓ෇͚Δɽඈߦધ্Լͷ֤Χϝϥ͔ΒࡱӨ͞Εͨը૾͸ɼपล‫ޫݮ‬ͷআ‫͓ڈ‬Αͼ‫ز‬Կม‫[ ׵‬11]ʹΑΓɼͦΕͧΕਤ 1(a), 1(b) ͷΑ͏ͳύϊϥϚը૾ʢղ૾౓ 2048 × 1024ʣʹม‫͞׵‬ΕΔɽ·ͨɼ֦ுςϨ

HDR ώετάϥϜͷ໛ࣜਤʢn = 4 ͷྫʣɽΔi ͸ྔࢠԽ෯ɼHi ͸γϟολʔεϐʔυ snewi Ͱ๞࿨ͳ͘ࡱӨՄೳͳ࠷େً
౓஋Λද͢ɽM3 ͸ώετάϥϜதͰృΓͭͿ͞ΕͨྖҬͷըૉ਺ͷ߹‫͋Ͱܭ‬Γɼଞͷ Mi ʹ͍ͭͯ΋ಉ༷ʹఆٛ͞ΕΔɽ
Fig. 4 Diagram of HDR histogram (In case ofn = 4)

ਤ4ϓϨθϯεʹ͓͚ΔԾ૝෺ମͷҐஔ߹Θͤ౳ʹ༻͍Δ
શఱ‫ٿ‬ը૾ͷࡱӨҐஔ৘ใΛऔಘ͢ΔͨΊɼిࢠ‫ج‬४(1) ࠷΋୹͍γϟολʔεϐʔυ snew1 ͷܾఆ఺໢ʹΑΔωοτϫʔΫิਖ਼Λར༻͢Δ Diﬀerential࠷΋୹͍γϟολʔεϐʔυ snew1 ͰࡱӨ͞ΕΔը

GPS Ͱ͋Δ P4-GPSʢ೔ཱ଄ધ‫ࣜג‬ձࣾ੡ʣΛ౥ࡌ͢Δɽ૾͸ɼγʔϯதͰ࠷΋ً౓ͷߴ͍ྖҬΛࡱӨ͢ΔɽμγϟολʔεϐʔυͷࣗಈઃఆΠφϛοΫϨϯδΛޮ཰తʹར༻͢ΔͨΊɼsnew1 Λɼً౓஋ͷ๞࿨Λ‫͍ͳ͜͞ى‬ൣғͰ௕͘ઃఆ͢Δɽsold1ޫ‫ڥ؀ݯ‬ͷ࣌ؒతมԽʹରԠ͠ɼ͞Βʹγʔϯͷ௿ͰࡱӨ͞Εͨ LDR ը૾தͰ࠷େͷً౓஋Λ L1 (sold1 )ً౓ྖҬʹଟ͘ͷ֊ௐΛׂΓ౰ͯΔͨΊʹɼଟஈ֊࿐

ͱͨ͠ͱ͖ɼ࠷΋୹͍γϟολʔεϐʔυ snew1 ͸Ҏग़ LDR ը૾ͷࡱӨ࣌ʹ༻͍ΔγϟολʔεϐʔυΛɼԼͷΑ͏ʹܾఆ͞ΕΔɽ
⎧0.5sold1⎪⎪⎪⎨
255 + θshsnew1 =
sold1
⎪
⎪
2L1
⎪
⎩
sold1

ࡱӨ͞Εͨ LDR ը૾‫܈‬Λ༻͍ͯಈతʹߋ৽͢Δɽ‫ݱ‬ࡏɼଟஈ֊࿐ग़ LDR ը૾ΛࡱӨՄೳͳΧϝϥͷҰ෦ʹΦʔτϒϥέοτ‫ػ‬ೳ͕ଘࡏ͠ɼγϟολʔεϐʔυͷࣗಈઃఆ͕࣮૷͞Ε͍ͯΔɽ͜ΕΒͷγεςϜͰ͸Ұൠతʹɼपล‫ڥ؀‬ͷޫྔ͔ΒγϟολʔεϐʔυΛઃఆ͠ɼ͞Βʹ࿐ग़ΛҰఆྔมԽͤͯ͞ෳ਺ͷ࿐ग़Λܾఆ͢Δ [12]ɽ·ͨɼࡱӨ͢ΔγʔϯͷμΠφϛο
ΫϨϯδ͔ΒγϟολʔεϐʔυΛҰҙʹ‫ٻ‬ΊΔ‫ڀݚ‬[13] ΋ଘࡏ͢Δɽ͜Εʹର͠ຊ‫Ͱڀݚ‬͸ɼҰఆ࣌ؒલͷγʔϯͷً౓෼෍͕ಘΒΕ͍ͯΔͨΊɼಈը૾தͷҎલͷϑϨʔϜͰࡱӨ͞ΕͨγʔϯͷώετάϥϜΛ༻͍ɼ‫ݶ‬ΒΕͨࡱӨຕ਺Ͱߴ͍μΠφϛοΫϨϯδΛΧόʔ͢ΔͨΊʹɼ(1) ً౓஋ͷ๞࿨Λ཈͑ɼ(2) ࡱӨ͞ΕΔը૾ຕ਺͕গͳ͍͜ͱʹΑΔ‫ͨݟ‬໨΁ͷӨ‫ڹ‬Λ௿‫͢ݮ‬ΔΑ͏ɼγʔϯͷً౓෼෍ʹର͠దԠతʹγϟολʔεϐʔυΛมԽͤ͞Δɽຊ‫͚͓ʹڀݚ‬Δ࣮૷Ͱ͸ɼγϟολʔεϐʔυߋ৽ॲཧʹ 1 ඵఔ౓Λཁ͢ΔͨΊɼߋ৽ϨʔτΛ਺ඵʹ 1 ౓ఔ౓ͱ͍ͯ͠Δɽ
͜͜ͰɼલϑϨʔϜͷࡱӨʹ༻͍ͨγϟολʔεϐʔυ‫܈‬Λ୹͍ॱʹ sold1 , sold2 , ...soldn ɼ৽ͨʹઃఆ͞ΕΔ
γϟολʔεϐʔυ‫܈‬Λ୹͍ॱʹ snew1 , snew2 , ...snewn
ͱ͢Δɽຊ‫Ͱڀݚ‬͸ 4 ຕͷଟஈ֊࿐ग़ LDR ը૾Λ༻
͍ΔͨΊɼn = 4 ͱ࣮ͯ͠‫ݧ‬Λߦͬͨɽ(L1 = 255)
(L1 ≤ θsh )(1)(otherwise)ͨͩ͠ɼsnew1 ͷऔΓ͏Δ࠷௕ɾ࠷୹γϟολʔεϐʔυ͸ɼΧϝϥͷ࢓༷ʹΑΓ੍‫͞ݶ‬ΕΔɽ͜͜Ͱɼθsh͸͋Β͔͡ΊϢʔβʹΑͬͯࢦఆ͞ΕΔᮢ஋Ͱ͋ΓɼϨεϙϯεΧʔϒʢCCD ΁ͷೖࣹޫྔͱը૾ؒͷؔ܎ʣ͕ઢ‫͋Ͱܗ‬Δ৔߹ snew1 ͕ θsh < L1 < 255 ͱͳΔΑ͏ʹઃఆ͞ΕΔɽຊ‫͚͓ʹڀݚ‬Δ࣮૷Ͱ͸ɼ‫ݧܦ‬తʹ θsh = 192 Λ༻͍ͨɽޫ‫ڥ؀ݯ‬ͷมԽ͕ͳ͍৔߹
Ͱ΋ɼsnew1 ͸ 1 ౓ͷߋ৽ॲཧͰ͸ऩଋͤͣɼ਺ճͷߋ৽ॲཧΛཁ͢Δ৔߹͕͋Δɽ(2) snew2 , ...snewn ͷܾఆࡱӨ͞ΕΔଟஈ֊࿐ग़ LDR ը૾ͷຕ਺͕গͳ͍৔߹ɼHDR ը૾্ͰͷྔࢠԽ෯͕େ͖͘ͳΔͨΊʹٖࣅΤοδ͕ൃੜ͢ΔՄೳੑ͕͋Δɽຊ‫Ͱڀݚ‬͸ɼͦͷΑ͏ͳ‫ͨݟ‬໨ʹର͢ΔӨ‫ڹ‬Λ௿‫͢ݮ‬ΔͨΊʹɼ֤ LDR
ը૾ͷྔࢠԽ෯͕ੜ੒͞ΕΔ HDR ը૾ʹ͓͍ͯͲͷఔ౓ͷେ͖͞ʹͳΔ͔Λߟྀ͠ɼHDR ը૾্ͰͷྔࢠԽ෯͕খ͘͞ͳΔΑ͏ʹγϟολʔεϐʔυΛܾఆ͢ΔɽͦͷͨΊʹɼࡱӨ͞Εͨ LDR ը૾‫܈‬Λ༻͍ͯɼਤ 4 ʹࣔ͢Α͏ʹɼੜ੒͞ΕΔ HDR ը૾ͷώετά
ϥϜΛ‫͢ࢉܭ‬Δɽi ൪໨ (i ≥ 2) ʹ୹͍γϟολʔεେ૔ɾਆ‫ݪ‬ɾԣ໼ : ແਓඈߦધʹ౥ࡌ͞Εͨ 2 ୆ͷશํҐΧϝϥΛ༻͍ͨෆՄࢹྖҬͷͳ͍શఱ‫ ٿ‬HDR ϏσΦͷੜ੒ਤ6ΧϝϥͷฒਐʹΑΔҐஔͣΕʢ࢟੎มԽʹ
ΑΔҐஔͣΕͷิਖ਼ॲཧ‫ޙ‬ʣ
Fig. 6 Remaining blur on HDR image due toposition change of camera(a) Ґஔ߹Θͤॲཧͳ͠(b) Ґஔ߹Θͤॲཧ͋ΓͰͷҐஔͣΕ͕ൃੜ͢ΔɽͦͷͨΊɼҐஔͣΕΛߟྀͤͣʹੜ੒͞Εͨ HDR ը૾Ͱ͸ਤ 5(a) ͷΑ͏ʹ΅͚ਤ5ଟஈ֊࿐ग़ LDR ը૾ͷҐஔ߹Θͤॲཧͷ༗ແʹΑΔ HDR ը૾ͷ‫͑ݟ‬ͷมԽ
Fig. 5 HDR images with and without multiexposure image alignment

͕ൃੜ͢Δɽຊ‫Ͱڀݚ‬͸ͦͷதͰ΋ɼΧϝϥͷҠಈྔʹରͯ͠ࡱӨ͞ΕΔ෺ମ͕ԕ͍৔߹ʹ΋ը૾্ͷҐஔͣΕ΁ͷӨ‫͕ڹ‬େ͖͍Χϝϥͷ࢟੎มԽΛը૾‫͔܈‬Βϐʔυ snewi ʹ͍ͭͯɼsnewi ͰࡱӨ͞ΕΔ LDR ը૾ͷ࠷େً౓஋ 255 ʹରԠ͢Δ HDR ը૾্Ͱͷً౓஋
Λ Hi (snewi ) ͱ͢Δɽ͜͜ͰɼMi (snewi ) ΛҎԼͷΑ͏ʹఆٛ͢Δɽ

Mi =

Hi


ਪఆͯ͠ิਖ਼Λߦ͏͜ͱʹΑͬͯɼਤ 5(b) ͷΑ͏ʹ΅͚Λ཈੍͢Δɽຊ‫͍༻Ͱڀݚ‬Δແਓඈߦધͷฏ‫ۉ‬తͳඈߦঢ়ଶʢ଎
౓ 5m/sɼճసྔ 30◦ /sʣΛԾఆͨ͠ͱ͖ͷɼ‫ݟ‬ճ͠ςϨϓϨθϯεγεςϜʹ͓͍ͯϢʔβʹఏࣔ͞ΕΔ

jk

(2)

͜͜Ͱɼjk ͸ɼً౓஋ k Λ࣋ͭըૉ਺ͱ͢Δɽ·ͨɼ

H ͸ҎԼͷΑ͏ʹఆٛ͞ΕΔɽ
0(i = n)H=
Hi+1 (otherwise)ಁࢹ౤Өը૾্ʹ͸ɼΧϝϥͷฒਐɾ࢟੎มԽʹΑͬ
ͯද 2 ʹࣔ͢Α͏ͳҐஔͣΕ͕ൃੜ͢Δɽඈߦધͷඈk=Hߦߴ౓Λ 100m ͱͨ͠ͱ͖ɼ4 ຕͷଟஈ֊࿐ग़ LDRը૾ΛࡱӨ͢ΔؒʹɼΧϝϥͷฒਐʹΑͬͯ࠷େ 5.81
ըૉɼ࢟੎มԽʹΑͬͯର৅෺ମ·Ͱͷ‫ؔʹ཭ڑ‬ΘΒ

(3)

ͣ 60 ըૉͷҐஔͣΕ͕ൃੜ͢Δɽຊ‫͚͓ʹڀݚ‬ΔҐ
ஔ߹Θͤॲཧ͸ɼ͜ͷ͏ͪΧϝϥͷ࢟੎มԽʹΑΔը

ΧϝϥͷϨεϙϯεΧʔϒ͕ઢ‫͋Ͱܗ‬ΔͱԾఆͨ͠ͱ

૾্ͰͷҐஔͣΕΛղফ͢Δ͜ͱΛ໨తͱ͢Δɽͨ͠

͖ɼsnewi ʹΑΓࡱӨ͞ΕΔ LDR ը૾ͷྔࢠԽ෯͸ɼ͕ͬͯɼҐஔ߹Θͤॲཧ‫ޙ‬΋ΧϝϥͷฒਐʹΑΔҐஔ

HDR ը૾ͷώετάϥϜ্Ͱ Δi ͱͯ͠‫ٻ‬ΊΒΕΔɽͣΕ͸࢒͓ͬͯΓɼҠಈྔ͕େ͖͍৔߹ɼੜ੒͞ΕͨHi
255

HDR ը૾ʹ‫·ؚ‬ΕΔۙ‫ܠ‬Λத৺ʹҐஔͣΕྔ͸େ͖͘ͳΔʢਤ 6 ࢀরʣɽ

Δi =

(4)

ίετؔ਺ Es ͸ɼ֤γϟολʔεϐʔυʹରԠ͢Δ
ྔࢠԽ෯Λɼ֤γϟολʔεϐʔυͰࡱӨ͞ΕΔըૉ͕γʔϯதʹͲΕ͚ͩ‫·ؚ‬ΕΔ͔ΛॏΈͱͨؔ͠਺Ͱ
͋ΓɼEs Λ࠷খԽ͢Δ͜ͱʹΑΓ snewi Λܾఆ͢Δɽ

Es =



Mi Δi

(5)

i

Ґஔ߹ΘͤͷྲྀΕΛਤ 7 ʹࣔ͢ɽ·ͣɼਤ 7(a) ʹࣔ͢Α͏ʹɼଟஈ֊࿐ग़ LDR ը૾‫͔܈‬Βനͱͼʢຊ‫ݚ‬‫Ͱڀ‬͸ً౓஋͕ 255 ͱઃఆʣɼࠇͭͿΕʢً౓஋͕ 16ද2Χϝϥͷฒਐɾ࢟੎มԽʹΑΔը૾্ͰͷҐஔͣΕྔTable 2 Misalignment of LDR images due tochange of position and orientation of
the camera

Es ͸͍͔ͭ͘ͷ‫ॴہ‬ղΛ΋ͭ 1 ࣍‫ͳͱ਺ؔݩ‬Δɽຊ
‫Ͱڀݚ‬͸ղۭؒΛ 100 ෼ͷ 1 ఔ౓ʹؒҾ͍ͯ୳ࡧ͠ɼ
࠷΋খ͍͞ղͷपғΛશ୳ࡧ͢Δૈີ୳ࡧʹΑΓ࠷খ஋Λ‫ٻ‬Ί͍ͯΔɽ

3.3

ଟஈ֊࿐ग़ LDR ը૾͔Βͷ HDR ը૾ੜ੒LDR ը૾‫܈‬ͷҐஔ߹Θͤଟஈ֊࿐ग़ LDR ը૾ؒʹ͸ɼࡱӨ࣌ͷΧϝϥͷฒਐ͓Αͼ࢟੎มԽʹΑͬͯɼࡱӨ͞Εͨ෺ମͷը૾্

ฒਐ
࢟੎มԽ

ର৅෺ମ
·Ͱͷ‫཭ڑ‬
50m
100m
500m

1 αΠΫϧ
͋ͨΓࢹࠩ
1.43◦
0.726◦
0.143◦

ಁࢹ౤Өը૾
্ͷҐஔͣΕ
11.4 ըૉ
5.81 ըૉ
1.14 ըૉ

n.a.

7.5◦

60.0 ըૉ

˞Χϝϥͷฒਐ଎౓Λ 5m/sɼճసྔΛ 30◦ /s ͱ͠ɼਨ௚ը֯
45◦ ɼ640 × 480 ըૉͷಁࢹ౤Өը૾্ͰͷҐஔͣΕΛධՁɽଟஈ
֊࿐ग़ը૾ 4 ຕΛࡱӨ͢Δ࣌ؒʢ0.25 ඵʣΛ 1 αΠΫϧͱͨ͠ɽ࢟੎มԽʹΑΔҐஔͣΕྔ͸ɼର৅෺ମ·Ͱͷ‫ʹ཭ڑ‬ґଘ͠ͳ͍ɽ

೔ຊόʔνϟϧϦΞϦςΟֶձ࿦จࢽ Vol.17, No.3, 2012dƌĂŶƐŝƚŝŽŶŽĨƐŚƵƚƚĞƌƐƉĞĞĚǀĂůƵĞƐ

‫ݏ‬ଶሾ݉‫ݏ‬ሿ‫ݏ‬ସ ሾ݉‫ݏ‬ሿ‫ݏ‬ଷሾ݉‫ݏ‬ሿ‫ݏ‬ଵሾ݉‫ݏ‬ሿ‫ݏ‬ଶሾ݉‫ݏ‬ሿ‫ܑ܋܀‬(a) ࿐ग़ͷ౳͍͠ϑϨʔϜؒͰͷ࢟੎ม‫׵‬ͷਪఆ‫  ܀‬,‫  ܀‬,‫  ܀‬,

ਤ8ϚεΫը૾ͷ࡞੒ɿෆՄࢹྖҬ͕ࠇ͘ϚεΫ͞Ε͍ͯΔʢࠨɿ্ը૾ͷϚεΫɼࠨԼɿԼը૾ͷϚεΫɼӈɿॏෳྖҬΛന͍ྖҬͱͯࣔ͢͠ը૾ʣ
Fig. 8 Mask images used for alignment between two cameras‫  ܀‬,(b) ‫ٿ‬໘ઢ‫ʹؒิܗ‬ΑΔɼ֤ϑϨʔϜؒͷ࢟੎ม‫׵‬ͷ‫ࢉܭ‬ZĞĨĞƌĞŶĐĞŝŵĂŐĞ

Δग़ྗ HDR ը૾ͷً౓஋ Ih Λ‫ٻ‬Ίɼඈߦધ্ԼΧϝϥ͔Βͷ 2 ຕͷ HDR ը૾Λੜ੒͢Δɽ͔͠͠ɼຊ(c) ࢀরϑϨʔϜ΁ͷଞϑϨʔϜ͔Βͷ࢟੎ม‫׵‬ͷ‫ࢉܭ‬‫Ͱڀݚ‬͸্Χϝϥʹ͸ ND ϑΟϧλΛऔΓ෇͚͍ͯΔ
ͨΊɼND ϑΟϧλͷޫͷެশ‫ݮ‬ਰྔ η Λ༻͍ͯҎԼ

ਤ 7 ଟஈ֊࿐ग़ LDR ը૾ͷҐஔ߹ΘͤͷྲྀΕ
Fig. 7 Flow of multi-exposure image alignmentະຬͱઃఆʣͷ࠷΋গͳ͍࿐ग़ը૾ͱɼͦͷۙ๣ʹଘͷΑ͏ʹग़ྗً౓஋Λิਖ਼͢Δɽα Itl (N D ϑΟϧλͳ͠)
Ih =
Il
α ηt
(N D ϑΟϧλ͋Γ)(7)

ࡏ͢Δಉ࿐ग़ͰࡱӨ͞Εͨը૾Λબ୒͠ɼ2 ϑϨʔϜؒͷରԠ఺Λ KLT τϥοΧ [14] ʹΑΓ‫ٻ‬ΊΔɽಘΒΕͨ m ൪໨ͷಛ௃఺͓ΑͼରԠ఺Λ୯Ґ‫ٿ‬໘ʹ౤Өͨ͠΋ͷΛͦΕͧΕ pm , qm ͱ͢ΔͱɼΦΠϥʔ֯ͷ

3 ύϥϝʔλͰද͞ΕΔ࢟੎ม‫ ׵‬Rci ͸ɼpm , qm ͷ

α ͸εέʔϧ܎਺Ͱ͋ΓɼHDR ը૾ͷً౓ͷઈରྔΛ༻͍ͣ૬ରྔͷΈΛ‫ٻ‬ΊΔ৔߹ʹ͸ຊ࣭తͳҙຯΛ࣋ͨͳ͍͕ɼΧϝϥߜΓ΍‫౓ײ‬౳ͷ৘ใΛ༻͍ద੾ʹ
ઃఆ͢Δ͜ͱͰ࣮ࡍͷ෺ཧྔ [cd/m2 ] ͱରԠ෇͚Δ͜ϢʔΫϦου‫| ཭ڑ‬pm , qm | ͷೋ৐࿨ͱͯ͠ఆٛ͞Ε

ͱ͕Ͱ͖Δɽ֤ଟஈ֊࿐ग़ LDR ը૾͔Β‫͞ࢉܭ‬ΕͨΔΤωϧΪʔ El Λඇઢ‫࠷ܗ‬খԽ͢Δ͜ͱʹΑΓਪఆग़ྗً౓஋͸ɼจ‫[ ݙ‬10] ͱಉ༷ʹ߹੒͞ΕΔɽ

͞ΕΔɽ

El =



3.4
|pm , qm |2(6)m্ԼΧϝϥ͔ΒࡱӨ͞Εͨ HDR ը૾ͷ߹੒্ԼΧϝϥؒͷ࢟੎ਪఆ͓Αͼิਖ਼ඈߦધ্Լʹ౥ࡌ͞ΕͨશํҐΧϝϥ͸ɼඈߦધͷ͜͜Ͱɼ‫ޡ‬ରԠʹΑΔਪఆ‫ࠩޡ‬Λܰ‫͢ݮ‬ΔͨΊɼRA-

ࡉ͔ͳม‫ܗ‬΍༳ΕͳͲͷͨΊɼ૬ରతͳҐஔؔ܎Λ‫׬‬NSAC Λ༻͍ͯ֎Ε஋Λআ‫͢ڈ‬Δɽશʹ‫ݻ‬ఆ͢Δ͜ͱ͸೉͍͠ɽͦ͜Ͱɼ֤Χϝϥͷ 3 ࣗ࣍ʹɼਤ 7(b) ʹࣔ͢Α͏ʹɼRci ͔Βɼ֤ϑϨʔ༝౓ͷ૬ରతͳ࢟੎มԽΛ‫ݕ‬ग़͢Δ͜ͱͰɼશఱ‫ٿ‬ըϜؒͷ࢟੎ม‫׵‬ύϥϝʔλ Rfi,j Λ‫ٿ‬໘ઢ‫ؒิܗ‬Λ༻૾ͷ࢟੎ิਖ਼Λߦ͏ɽ྆Χϝϥͷ౥ࡌҐஔ͸ඈߦધͷ͍ͯ‫ٻ‬ΊΔɽ௚‫͋Ͱܘ‬Δ໿ 3.5m ఔ౓཭Ε͍ͯΔ͕ɼ֤Χϝϥ͔Βಈը૾தͷ೚ҙͷϑϨʔϜΛࢀরϑϨʔϜͱ͠ɼਤࡱӨ͞Εͨશఱ‫ٿ‬ը૾ͷॏෳ෦Ґ͸ਫฏઢʹۙ͘ԕ‫ܠ‬7(c) ʹࣔ͢Α͏ʹɼRfi,j Λ༻͍ͯࢀরϑϨʔϜʹର͕ଟ͍ͨΊɼຊ‫Ͱڀݚ‬͸྆Χϝϥؒʹൃੜ͢ΔࢹࠩΛ͢Δଞͷ࿐ग़ը૾͔Βͷ࢟੎ม‫׵‬Λ‫͠ࢉܭ‬ม‫׵‬Λߦ͏ແࢹ͢Δɽ͜ͱͰɼࢀরϑϨʔϜʹҐஔ߹Θͤ͞Εͨଟஈ֊࿐ग़

ຊ‫Ͱڀݚ‬͸ɼಉ࣌ࠁͰࡱӨ͞Ε্ͨԼը૾ͷରԠؔ

LDR ը૾‫܈‬ΛಘΔɽ
ಈը૾શମʹରͯ͠ਤ 7(a) ͓Αͼ 7(b) ʹࣔ͞ΕΔ
ॲཧΛߦ͍ɼ͞ΒʹશϑϨʔϜΛͦΕͧΕࢀরϑϨʔ܎͓ΑͼɼલϑϨʔϜͰࡱӨ͞Εͨը૾ͱͷରԠؔ܎Λ༻͍ͯҎԼͷΑ͏ʹ࢟੎มԽΛ‫ٻ‬Ίɼิਖ਼͢Δɽ

Ϝͱͯ͠ਤ 7(c) ͷॲཧΛߦ͏͜ͱʹΑΓɼಈը૾શମ

(1) ϚεΫը૾ͷ࡞੒্Χϝϥ͔ΒࡱӨ͞Εͨը૾ʢ্ը૾ʣɼԼΧϝϥʹରͯ͠Ґஔ߹ΘͤॲཧΛߦ͏͜ͱ͕Ͱ͖Δɽ͔ΒࡱӨ͞Εͨը૾ʢԼը૾ʣͱ΋ʹ͋Β͔͡Ίखಈ

ND ϑΟϧλʹΑΔޫ‫ݮ‬ਰΛߟྀͨ͠ HDR ը૾ੜ੒ຊ‫Ͱڀݚ‬͸ɼHDR ը૾ੜ੒ʹଟ͘༻͍ΒΕΔ Debevec Βͷख๏ [10] ͷΑ͏ʹɼࡱӨ࣌ͷγϟολʔεͰෆՄࢹྖҬΛࣔ͢ϚεΫΛ࡞੒͓ͯ͘͠ɽશఱ‫ٿ‬ըϐʔυ͔Β֤ଟஈ֊࿐ग़ LDR ը૾ Il ͷً౓஋ʹର͢ΫΛಈը૾શମʹ༻͍Δɽ࡞੒͞Ε্ͨԼΧϝϥͷϚ

૾தͷෆՄࢹྖҬ͸ಈը૾શମΛ௨ͯ͡େ͖͘มԽ͠
ͳ͍ͨΊɼಈը૾தͷ͋Δ 1 ϑϨʔϜͰ࡞੒ͨ͠Ϛεେ૔ɾਆ‫ݪ‬ɾԣ໼ : ແਓඈߦધʹ౥ࡌ͞Εͨ 2 ୆ͷશํҐΧϝϥΛ༻͍ͨෆՄࢹྖҬͷͳ͍શఱ‫ ٿ‬HDR ϏσΦͷੜ੒౓஋Λൺֱ͢Δ͜ͱͰɼҎԼͷΑ͏ʹ RGB ͷ֤νϟϯωϧͰಠཱʹఆٛ͞ΕΔ৭ௐύϥϝʔλΛɼ্ը૾ͷॏෳྖҬʹ‫·ؚ‬ΕΔըૉͷً౓஋͕Լը૾ʹ͓͚Δ
ରԠըૉͷً౓஋ʹ࠷΋ۙͮ͘Α͏ʹਪఆ͠ɼ৭ௐΛ(a) ND ϑΟϧ λ ͳ ͠ʢ Լ ը૾ʣɿฏ‫౓ًۉ‬஋ (R, G, B) =(93.2, 91.2, 100.6)(b) ND ϑΟϧ λ ͋ Γʢ ্ ը૾ʣɿฏ‫౓ًۉ‬஋ (R, G, B) =(83.8, 91.6, 99.0)

ND ϑΟϧλʹΑΔ৭ௐมԽɿಉ͡࿐ग़ʹม‫͞׵‬Ε্ͨԼը૾ͷॏෳྖҬͷҰ෦
Fig. 9 Chromatic change due to ND ﬁlter

ิਖ਼͢Δɽ

ਤ9


Rtop
(x) = γr Rtop (x)(10)

Gtop (x) = γg Gtop (x)(11)

(x) = γb Btop (x)
Btop

(12)

͜͜Ͱɼx Λ஫໨ըૉɼ(Rtop (x), Gtop (x), Btop (x)) ΛεΫΛ༻͍ͯɼਤ 8 ʹࣔ͢Α͏ʹɼ྆ը૾ʹ‫ڞ‬௨ͯ͠৘‫͕ܠ‬өΓࠐΉྖҬʢॏෳྖҬʣΛ‫ٻ‬ΊΔɽ(2) ্Χϝϥ͔ΒԼΧϝϥ΁ͷ૬ରతͳ࢟੎ม‫׵‬ͷਪఆ্ը૾ͷॏෳྖҬʹ‫·ؚ‬ΕΔಛ௃఺ʹର͢ΔԼը૾ͷରԠ఺Λ KLT τϥοΧ [14] Λ༻͍ͯ‫ݕ‬ग़͢Δɽ্
Լը૾ؒͷΤωϧΪʔ Es ͸ɼ3.3 ʹ͓͚Δ࿐ग़ͷ౳͍͠ϑϨʔϜؒͷ࢟੎ม‫׵‬ͷਪఆख๏ͱಉ༷ʹ‫ٻ‬ΊΒิਖ਼લͷ্ը૾ʹ͓͚Δ x ͷ RGB ͦΕͧΕͷً౓஋ɼ


(Rtop
(x), Gtop (x), Btop(x)) Λิਖ਼‫ޙ‬ͷ্ը૾ʹ͓͚Δ x ͷً౓஋ͱ͢Δɽ

(Rbot (x), Gbot (x), Bbot (x)) ΛԼը૾ʹ‫·ؚ‬ΕΔըૉx ͷً౓஋ɼA ΛॏෳྖҬɼNA ΛॏෳྖҬʹ‫·ؚ‬ΕΔըૉ਺ͱͨ͠ͱ͖ɼγr ͸ҎԼͷΑ͏ʹਪఆ͞ΕΔɽ

γg , γb ʹ͍ͭͯ΋ಉ༷ʹਪఆ͢Δɽ

ΕΔɽ

γr =

֤ϑϨʔϜͰಠཱʹ࢟੎ม‫׵‬Λ‫ٻ‬Ίͨ৔߹ɼϚονϯάͷਫ਼౓ʹΑͬͯ͸‫ٻ‬ΊΒΕΔ࢟੎ม‫׵‬ύϥϝʔλ͕࣌ؒతʹࡉ͔͘มԽ͠ग़ྗ͞ΕΔಈը૾ʹ༳Ε͕ൃੜ͢ΔՄೳੑ͕͋Δɽຊ‫Ͱڀݚ‬͸ɼલϑϨʔϜͱͷରԠؔ܎Λ༻͍Δ͜ͱʹΑΓ͜ͷ໰୊Λղܾ͢Δɽn ϑϨʔϜ໨ͷ্ը૾ͷෆՄࢹͰͳ͍ྖҬʹଘࡏ͢Δಛ௃఺ pn ͓Αͼɼ1 ͭલϑϨʔϜͷରԠ఺ pn−1 Λ༻͍ͯɼҎԼͷΤωϧΪʔ Et Λఆٛ͢Δɽ

Et =



|pn , Rfn−1,n pn−1 |2

Rbot (x)Σx∈A R
top (x)NA(13)ਪఆ͞Εͨ৭ௐύϥϝʔλΛ༻͍ͯɼ্ը૾શମʹରࣜ͠ (10)ʙ(12) Λద༻͢Δ͜ͱʹΑΓ৭ௐม‫׵‬Λߦ͏ɽิਖ਼ࡁΈ্Լը૾ͷ߹੒࠷‫ʹޙ‬ɼิਖ਼ࡁΈͷ্Լը૾Λ߹੒͢Δ͜ͱͰ 1 ຕͷෆՄࢹྖҬͷͳ͍શఱ‫ ٿ‬HDR ը૾Λੜ੒͢Δɽ͜
ͷͱ͖ɼॏෳྖҬʹ‫·ؚ‬ΕΔըૉͷً౓஋͸ɼ྆ը૾(8)ΛΞϧϑΝϒϨϯσΟϯάͯ͠‫ٻ‬ΊΔɽ্ը૾தͷըૉͷً౓஋ Itop ɼԼը૾ͷಉҐஔʹ͋Δըૉͷً౓஋n͜͜ͰɼRfn−1,n ͸ɼ3.3 Ͱ‫ٻ‬ΊΒΕͨ n − 1 ϑϨʔϜ໨͔Β n ϑϨʔϜ໨΁ͷ࢟੎ม‫͋Ͱ׵‬Δɽ

Es ͓Αͼ Et ͷઢ‫ܗ‬࿨ͱͯ͠ΤωϧΪʔ Eh ΛఆٛIbot ͔Βɼ࠷ऴग़ྗͱͳΔը૾ͷಉҐஔͷըૉͷً౓஋ If ull ͸ɼҰൠతͳΞϧϑΝϒϨϯσΟϯάΛ༻͍ͯҎԼͷΑ͏ʹ‫ٻ‬ΊΒΕΔɽ

͢Δɽ3.3 ͱಉ༷ʹ Eh ͕࠷খͱͳΔ࢟੎ม‫׵‬ύϥϝʔ

If ull = αbr Ibot + (1 − αbr )Itop(14)λΛ‫ٻ‬Ίɼ্Χϝϥ͔ΒԼΧϝϥ΁ͷ࢟੎ม‫͢ͱ׵‬Δɽ
ॏෳྖҬͷ্୺Ͱ αbr = 0ɼԼ୺Ͱ αbr = 1 ͱͳΔΑEh = Es + βEt(9)ຊ‫Ͱڀݚ‬͸ɼ܎਺ β = 1 ͱ࣮ͯ͠‫ݧ‬Λߦ͍ɼྑ޷ͳ݁
ՌΛಘͨɽͨͩ͠ɼಈը૾ͷॳ‫ظ‬ϑϨʔϜʹ͍ͭͯ͸͏ʹઃఆ͞ΕɼͦͷؒΛઢ‫ؒ͢ิʹܗ‬Δ͜ͱͰɼ࢟੎
͓Αͼ৭ௐ͕ิਖ਼͞Ε্ͨԼը૾Λ߹੒͢Δɽ

4

ඈߦધ͔Βͷۭࡱը૾Λ༻͍࣮ͨ‫݁ݧ‬ՌEt ͕ఆٛͰ͖ͳ͍ͨΊɼEs ͷΈΛ࠷খԽͯ࢟͠੎ม

4.1‫׵‬ύϥϝʔλΛ‫ٻ‬ΊΔɽఏҊख๏͕࣮‫ڥ؀‬Λ஧࣮ʹ൓өͨ͠ HDR ը૾ΛੜND ϑΟϧλʹΑΔ৭ௐมԽͷิਖ਼
ND ϑΟϧλ͸ҰൠతʹՄࢹޫͷશ೾௕Λ‫ۉ‬౳ʹಁ੩ࢭը૾Λ༻͍࣮ͨ‫݁ݧ‬Ռ੒Ͱ͖Δ͜ͱΛ֬ೝ͢ΔͨΊɼ࣮ࡍʹΩϟϯύε্ۭ͔ΒඈߦધΛ༻͍ۭͯࡱΛߦ͍ɼ੩ࢭը૾Λ༻͍ͯෆՄ

ա͢Δ‫ޫݮ‬ϑΟϧλͱͯ͠༻͍ΒΕ͍ͯΔɽ͔͠͠ɼ

ࢹྖҬͷͳ͍શఱ‫ ٿ‬HDR ը૾Λੜ੒ͨ͠ɽ͜͜Ͱ͸ɼ‫ʹີݫ‬͸શ೾௕Λ‫ۉ‬౳ʹಁաͤͣɼND ϑΟϧλΛ༻্ԼΧϝϥؒͷ࢟੎ਪఆʢ3.4ʣʹ͓͚Δ࿈ଓϑϨʔϜ͍ͯࡱӨ͢Δͱ৭ௐ͕มԽ͢Δ [9]ɽຊ‫͍༻Ͱڀݚ‬Δ

ؒͷ੍໿Ͱ͋Δ Et Λ༻͍ͣɼಈը૾ͷॳ‫ظ‬ϑϨʔϜͱ

ND ϑΟϧλ͸ɼਤ 9 ʹࣔ͢Α͏ʹ੺੒෼Λ͋·Γಁա͠ͳ͍ɽͦ͜ͰɼND ϑΟϧλʹΑΔ৭ௐͷҧ͍Λ‫ٵ‬ಉ༷ʹ Es ͷΈΛ੍໿ͱͯ࢟͠੎มԽͷਪఆΛߦͬͨɽ

ऩ͢ΔͨΊɼ࢟੎ิਖ਼ࡁΈ্Լը૾ͷॏෳྖҬ಺ͷً

໿ 3m/s ͰҠಈ͍ͯͨ͠ɽ֤ը૾ͷγϟολʔεϐʔࡱӨ࣌ɼඈߦધͷߴ౓͸஍্͔Β͓Αͦ 130m Ͱ͋Γɼ೔ຊόʔνϟϧϦΞϦςΟֶձ࿦จࢽ Vol.17, No.3, 2012(a) ্ը૾ɿ0.1 ms (ND औ෇)(b) ্ը૾ɿ4.1 ms (ND औ෇)(c) ্ը૾ɿ14.4 ms (ND औ෇)(d) ্ը૾ɿ43.3 ms (ND औ෇)(e) Լը૾ɿ0.1 ms(f) Լը૾ɿ0.4 ms(g) Լը૾ɿ1.1 ms(h) Լը૾ɿ2.4 ms

ਤ 10 2 ୆ͷશํҐΧϝϥ͔ΒࡱӨ͞Εͨଟஈ֊࿐ग़ LDR ը૾
Fig. 10 Multi-exposure images captured from two omnidirectional cameras(a) ਤ 10(e) ͱಉ࿐ग़(b) ਤ 10(h) ͱಉ࿐ग़

ਤ 11ଟஈ֊࿐ग़ LDR ը૾ͱಉ࿐ग़ʹͳΔΑ
͏ม‫͞׵‬Εͨग़ྗը૾
Fig. 11 Full spherical images which intensity
is cropped with exposures equal tomulti-exposure images(a) HDR ࡱӨʢਤ 12 ͷ֦େਤʣ(b) LDR ࡱӨʢਤ 10(c) ͷ֦େਤʣਤ 13 HDR ࡱӨͱ LDR ࡱӨͷൺֱ
Fig. 13 Closeups of spherical HDR and LDR
image੒͞Εͨશఱ‫ ٿ‬HDR ը૾ΛτʔϯϚοϐϯά͠ɼ‫ݟ‬ճ͠Մೳͳશఱ‫ٿ‬ςϨϓϨθϯε౳ʹ༻͍Δ͜ͱͰɼϢʔβʹ͋ΒΏΔํ޲ɼ͋ΒΏΔً౓ͷৄࡉͳςΫενϟΛఏࣔ͢Δ͜ͱ͕ՄೳͱͳΔɽ
ਤ 12 ʹ‫·ؚ‬ΕΔۭͱ஍্ͷ‫ڥ‬ք෇ۙΛ֦େͯ͠ਤ
13(a) ʹࣔ͢ɽ্ΧϝϥͰࡱӨ͞Εͨ LDR ը૾ͷ͏
ਤ 12Reinhard Βͷख๏ [15] ʹΑΓτʔϯϚοϐϯά͞Εͨग़ྗը૾
Fig. 12 Full spherical image generated bytone-mapping of Reinhard, et al.[15]ͪɼਤ 12 ͱ࠷΋ً౓ฏ‫ۉ‬ͷ͍ۙਤ 10(c) ͷରԠ͢Δ
ྖҬͷ֦େਤΛਤ 13(b) ʹࣔ͢ɽۭͷྖҬʹ͓͍ͯ͸ɼҰൠతͳ LDR ࡱӨͰಘΒΕͨਤ 13(b) ͷߴً౓෦෼
Ͱ͋Δଠཅपลʹً౓ͷ๞࿨͕‫ݟ‬ΒΕΔ͕ɼHDR ըυͱɼࡱӨ͞Εͨଟஈ֊࿐ग़ LDR ը૾ྫΛਤ 10 ʹ૾ΛτʔϯϚοϐϯάͨ͠ਤ 13(a) Ͱ͸ςΫενϟ͕ࣔ͢ɽࡱӨ͞Εͨը૾‫͔܈‬Βੜ੒͞Ε্ͨԼ HDR ըࢹೝͰ͖ΔɽҰํɼ஍্ͷྖҬʹ͓͍ͯ͸ɼਤ 13(b)૾͕ɼઌʹࣔͨ͠ਤ 1(a), 1(b) Ͱ͋Δɽ্ը૾ͱԼը

Ͱ͸ਤ 13(a) ͱൺֱͯ͠໌౓͕௿Լ͠ɼҰ෦ʹࠇͭͿ૾ͷॏෳྖҬΛΞϧϑΝϒϨϯσΟϯάͯ͠ɼਤ 1(c)Ε͕‫ݟ‬ΒΕΔɽ͜ΕΒ͔ΒɼHDR ը૾ΛτʔϯϚοʹࣔͨ͠࠷ऴग़ྗը૾Λੜ੒ͨ͠ɽ

ϐϯάͨ͠ը૾͸ɼैདྷͷ LDR ը૾ʹΑΔද‫ͱݱ‬ൺੜ੒͞Εͨ HDR ը૾ʢਤ 1(c)ʣΛਤ 10(e), 10(h)ֱͯ͠ࢹೝੑ͕޲্͍ͯ͠Δ͜ͱ͕֬ೝͰ͖Δɽಈը૾Λ༻͍࣮ͨ‫݁ݧ‬Ռͱಉ͡࿐ग़ʹً౓ม‫ͨ͠׵‬ը૾Λਤ 11 ʹࣔ͢ɽม‫ޙ׵‬

4.2

ͷً౓͸ద੾ʹද‫͞ݱ‬Εɼ࣮ࡍʹࡱӨ͞Εͨଟஈ֊࿐

࣮ࡍʹɼఏҊख๏Ͱ֦ுςϨϓϨθϯε౳ͰԠ༻Մ

ग़ LDR ը૾ʹ͍ۙ‫ʹ͑ݟ‬ม‫͞׵‬Ε͓ͯΓɼੜ੒͞Εೳͳ HDR ಈը૾͕ੜ੒Ͱ͖Δ͜ͱΛ֬ೝ͢ΔͨΊɼͨ HDR ը૾͕࣮ࡍʹࡱӨ͞Εͨ‫ڥ؀‬Λ஧࣮ʹ൓ө͠ຊख๏Λશ 500 ϑϨʔϜ͔ΒͳΔಈը૾ʹద༻ͨ͠ɽ

͍ͯΔɽReinhard ΒͷτʔϯϚοϐϯάख๏ [15] Λඈߦધͷߴ౓͸͓Αͦ 130m Ͱ͋ΓɼҠಈ଎౓͸໿ 5

༻͍ͯɼHDR ը૾ʹ‫·ؚ‬ΕΔςΫενϟΛอ࣋ͨ͠

ʙ8m/s Ͱ͋ͬͨɽੜ੒͞Εͨಈը૾͸ࡱӨ࣌ͱಉ͡··ੜ੒͞Εͨ LDR ը૾Λਤ 12 ʹࣔ͢ɽຊ‫Ͱڀݚ‬ੜ

16fps Ͱ͋Γɼॲཧ࣌ؒ͸ 1 ϑϨʔϜ͋ͨΓ͓Αͦ 10େ૔ɾਆ‫ݪ‬ɾԣ໼ : ແਓඈߦધʹ౥ࡌ͞Εͨ 2 ୆ͷશํҐΧϝϥΛ༻͍ͨෆՄࢹྖҬͷͳ͍શఱ‫ ٿ‬HDR ϏσΦͷੜ੒(a) 1 ϑϨʔϜ໨(b) 100 ϑϨʔϜ໨(c) 200 ϑϨʔϜ໨(d) 300 ϑϨʔϜ໨(e) 400 ϑϨʔϜ໨(f) 500 ϑϨʔϜ໨

ਤ 14 ಈը૾தͷ༷ʑͳϑϨʔϜ͔Βੜ੒͞Εͨશఱ‫ ٿ‬HDR ը૾
Fig. 14 Full spherical HDR images generated from video framesඵఔ౓ͱͳͬͨɽԼΧϝϥ͔ΒࡱӨ͞Εͨը૾ʹର͠શํҐΧϝϥΛ༻͍ͨ structure-from-motion[16] Λద༻͠ಘΒΕͨશํҐΧϝϥͷҐஔ࢟੎Λ༻͍ͯɼ஍
ฏઢ͕ը૾தͷਫฏઢͱҰக͠ɼը૾த৺͕ৗʹಉ͡ํ֯ͱͳΔΑ͏ఏҊख๏Ͱੜ੒͞Εͨ HDR ը૾ͷ࢟੎Λ౷Ұ͠ɼτʔϯϚοϐϯάͨ͠ը૾Λਤ 14 ʹࣔ͢ɽຊ‫Ͱڀݚ‬ಘΒΕͨશํҐը૾ʹ͍ͭͯ΋ɼैདྷͱಉ༷ʹΧϝϥͷҐஔɾ࢟੎Λਪఆ͢Δ͜ͱ͕ՄೳͰ͋
ΓɼఏҊख๏Ͱੜ੒͞Εͨશఱ‫ ٿ‬HDR ಈը૾͓ΑͼΧϝϥͷҐஔɾ࢟੎৘ใ͸ɼ֦ுςϨϓϨθϯε౳ʹ͓͍ͯԾ૝෺ମΛ߹੒͢ΔͳͲͷ༻్ʹ༻͍Δ͜ͱ͕

ਤ 15 ैདྷख๏ [3] ʹΑΔෆՄࢹྖҬͷิ‫݁׬‬Ռ
Fig. 15 Completion of missing area by previous method [3]

Ͱ͖Δɽ

5
5.1

ߟ࡯

ఱۭޫϞσϧΛ༻͍ͨิ‫ʹ׬‬ΑΔશఱ‫ٿ‬ը૾ੜ੒ख๏ [3] ͱͷൺֱʹ͓͚Δ࠷େً౓஋) : (ैདྷख๏ [3] ʹ͓͚Δ࠷େً౓஋) = 1 : 0.10 ͱͳͬͨɽ͜ͷͱ͖ɼ࠷େً౓Λ࣋ͭըૉͷํ֯ʹ 9.53◦ ͷͣΕ͕͋ͬͨɽ·ͨɼ྆ख๏ʹ

4.2 ʹ͓͍ͯಘΒΕ࣮ͨ‫݁ݧ‬ՌͱɼఱۭޫϞσϧΛ

͓͚ΔۭྖҬͷฏ‫౓ًۉ‬͸ɼ1 : 0.218 ͱͳͬͨɽ͜Ε༻͍ͯશఱ‫ٿ‬ಈը૾ͷۭʹଘࡏ͢ΔෆՄࢹྖҬΛิ‫׬‬͸ɼख๏ [3] ʹΑͬͯੜ੒͞ΕۭͨΛ༻͍ͯϥΠςΟ

͢Δैདྷख๏ [3] ʹΑͬͯಘΒΕΔ݁ՌΛൺֱ͢Δɽख

ϯάΛߦͳͬͨ৔߹ɼ࣮ࡍͷً౓ͷ‫؍‬ଌʹ‫ͮ͘ج‬ఏҊ

๏ [3] ʹ 4.2 ͱಉҰͷಈը૾Λೖྗ͠ɼਤ 14(b) ͱಉख๏ʹΑΔϥΠςΟϯάͱൺֱ͠ɼ‫׬‬શ֦ࢄ൓ࣹΛԾ͡ϑϨʔϜͷෆՄࢹྖҬΛิ‫݁ͨ͠׬‬ՌΛਤ 15 ʹࣔ

1ఔ౓ͱఆͰ͖ΔΑ͏ͳԾ૝෺ମͷ໌Δ͞͸ฏ‫ ۉ‬4.586

͢ɽͳ͓ɼਤ 15 ʹ͸ 4.2 ͷ݁Ռͱಉ͡ύϥϝʔλͰ

ͳΔ͜ͱΛҙຯ͢Δɽ࣮ࡍʹϥΠςΟϯάΛߦͬͨࡍτʔϯϚοϐϯάΛߦͳ͍ͬͯΔɽ

ʹԾ૝෺ମͷ‫ʹ͑ݟ‬ஶ͍͠มԽΛҾ͖‫ͨ͢͜ى‬Ίɼຊఆੑతͳ‫͔఺؍‬Βɼਤ 15 ʹ͓͍ͯิ‫͞׬‬ΕͨྖҬͱͦΕҎ֎ͷྖҬͷςΫενϟ͕େ͖͘ҟͳΓɼςϨϓϨθϯεγεςϜͱͯ͠Ϣʔβ͕‫ݟ‬ճ͠Λߦ͏ࡍʹ຅ೖ‫ײ‬ɾྟ৔‫ײ‬௿Լͷ‫ݪ‬ҼʹͳΔͱߟ͑ΒΕΔɽ

࣮‫͍͓ͯʹڥ؀ݧ‬ఏҊख๏ʹΑΔશఱ‫ٿ‬ը૾ੜ੒͕༗
ޮͰ͋Δͱߟ͑ΒΕΔɽ
͔͠͠ɼԾ૝෺ମͷ߹੒ʹ͓͚Δ‫͑ݟ‬ͷҧ࿨‫ײ‬΍ຬ଍౓͸ޫ‫ڥ؀ݯ‬ͷਫ਼౓͚ͩͰܾ·Δ΋ͷͰ͸ͳ͘ɼԾఏҊख๏͓Αͼจ‫[ ݙ‬3] ͷख๏ʹΑΔ݁ՌΛ༻͍ͨ૝෺ମද໘ʹ༩͑ΒΕͨ൓ࣹಛੑͷਫ਼౓΍ɼԾ૝෺ମ

IBL ʹΑΔϥΠςΟϯά΁ͷӨ‫ڹ‬Λௐ΂ΔͨΊɼ྆ख๏ʹΑͬͯग़ྗ͞ΕΔશఱ‫ٿ‬ը૾ͷޫ‫ͯ͠ͱݯ‬ͷಛੑͱͯ͠༻͍Δ‫ݐ‬଄෺౳͕࣮γʔϯͱͯ͠༻͍Δ‫ʹڥ؀‬Λఆྔతʹߟ࡯͢ΔɽϥΠςΟϯάʹ͓͍ͯΩϟετ

ଘ͢ΔɽͦͷͨΊɼΑΓࣗવͳ߹੒Λ࣮‫͢ݱ‬ΔͨΊʹγϟυ΢౳ͷද‫ʹݱ‬Ө‫͢ڹ‬Δը૾தͷ࠷େً౓ʹ͍ͭ͸ɼਓؒͷ৺ཧ΋‫ؚ‬Ίͨଟ֯తͳߟ࡯͕ඞཁͰ͋ΔɽͯɼఏҊख๏ͷ࠷େً౓஋Λ 1 ͱͨ͠ͱ͖ɼ(ఏҊख๏ଘࡏͯ͠΋ࣗવͳ΋ͷ͔Ͳ͏͔ͳͲɼଟ͘ͷཁૉʹґ೔ຊόʔνϟϧϦΞϦςΟֶձ࿦จࢽ Vol.17, No.3, 20125.2

γϟολʔεϐʔυࣗಈઃఆʹ͍ͭͯͷߟ࡯ຊ‫͚͓ʹڀݚ‬Δγϟολʔεϐʔυͷࣗಈઃఆʹ͍ͭͯߟ࡯Λߦ͏ɽ
ैདྷɼจ‫[ ݙ‬12] Λ͸͡Ίͱ͢Δଟ͘ͷख๏ʹ͓͍ͯɼ
͋Δ࿐ग़Λ‫ج‬४࿐ग़ͱ͠ɼ͞Βʹ࿐ग़ΛҰఆྔมԽ͞
ͤΔ͜ͱͰଟஈ֊࿐ग़ LDR ը૾ࡱӨͷͨΊͷγϟο

(a) ਤ 12 ͷ֦େਤ(b) ਤ 16(a) ͷඍ෼ը૾ʢSobel ϑΟϧλʹΑΔʣ(c) ࿐ग़ͷมԽΛҰఆʹͯ͠࠶ྔࢠԽͨ͠ը૾ͷ֦େਤ(d) ਤ 16(c) ͷඍ෼ը૾ʢSobel ϑΟϧλʹΑΔʣλʔεϐʔυΛܾఆ͍ͯ͠Δɽ͜͜Ͱ͸ɼ3.2 Ͱܾఆ͞Εͨɼً౓஋ͷ๞࿨Λ཈੍͢ΔͨΊͷ࠷΋୹͍γϟολʔεϐʔυΛ sc1 [ms] ͱ͠ɼ࿐ग़࣌ؒΛ 22 = 4 ഒͣͭ૿Ճͤ͞ sc2 , ...sc4 Λܾఆ͢Δɽͳ͓ɼ࿐ग़࣌ؒ
ͷ૿Ճ܎਺ͱͯ͠ɼଟ͘ͷΦʔτϒϥέοτΧϝϥʹ
͓͍ͯ 22 ͕༻͍ΒΕ͍ͯΔ͜ͱ͔ΒɼຊൺֱͰ΋͜ΕΛ༻͍Δɽ͜͜Ͱɼ3.2 ͱಉ༷ʹैདྷख๏ͷγϟολʔεϐʔυ sci (1 ≤ i ≤ 4) ʹ͓͍ͯࡱӨՄೳͳ࠷େ

ਤ 16 ྔࢠԽ෯ͷ૿େʹΑΔ‫ͨݟ‬໨΁ͷӨ‫ڹ‬
Fig. 16 Eﬀect of quantization step to appearance of image

ً౓Λ Hci ͱ͠ɼఏҊख๏ʹ͍ͭͯ΋࣮ࡍʹ 4.1 ʹ্͓͍ͯΧϝϥͷγϟολʔεϐʔυͱͯ͠ઃఆ͞Εͨ஋Λ༻͍ͯಉ༷ʹ Hpi Λఆٛ͢Δɽγϟολʔεϐʔυɼ࠷େً౓ɼ͓Αͼ֤γϟολʔεϐʔυͰࡱӨͨ͠৔߹ͷྔࢠԽ෯Λද 3 ʹ·ͱΊΔɽྔࢠԽ෯͸࠷େً౓ʹൺྫ͠ɼຊ‫͚͓ʹڀݚ‬Δ࣮‫ͱݧ‬ಉ༷ɼ֤γϟολʔεϐʔυͰࡱӨ͞ΕΔը૾͕ 256 ֊ௐΛ࣋ͭͱͯ͠‫ͨ͠ࢉܭ‬ɽද 3 ΑΓɼҰൠతʹըૉͷً౓஋͕ଟ͘
෼෍͢Δ௿ً౓ྖҬʹ͓͍ͯɼैདྷख๏ʹΑΔྔࢠԽ

5.3

ࡱӨՄೳͳμΠφϛοΫϨϯδʹؔ͢Δߟ࡯ࠓճͷ࣮‫Ͱݧ‬͸ɼND ϑΟϧλΛऔΓ෇্͚ͨΧϝϥͰઃఆՄೳͳ࠷΋୹͍γϟολʔεϐʔυ s = 0.1[s]ͰࡱӨ͞Εͨը૾ʹ͓͍ͯ΋ɼଠཅपลͷ਺ըૉʹً౓ͷ๞࿨͕‫ݟ‬ΒΕͨɽͦ͜Ͱɼຊ࣮‫Ͱݧ‬ੜ੒͞Εͨը૾ً͕౓ͷ๞࿨΍ࠇͭͿΕͳ͠ʹද‫͖Ͱݱ‬ΔμΠφϛοΫϨϯδΛ‫͠ࢉܭ‬ɼߟ࡯Λߦ͏ɽ͜͜Ͱɼ࠷΋෯͸ఏҊख๏ͷ 6.7 ഒͱͳΔɽ࣮ࡍʹਤ 12 ʹࣔͨ͠શఱ‫ ٿ‬HDR ը૾Λैདྷख๏ͷྔࢠԽ෯Λ༻͍ͯ࠶ྔࢠԽͨ͠ɽਤ 12 ͓Αͼ࠶ྔࢠԽ͞Εͨ HDR ը૾ͷɼۭͱ஍্ͷ‫ڥ‬ք෇ۙΛ֦େ
ͯ͠ਤ 16 ʹࣔ͢ɽਤ 16(c) ͓Αͼͦͷඍ෼ը૾Ͱ͋
Δਤ 16(d) ΑΓɼ௿ً౓ͷྖҬΛத৺ʹٖࣅΤοδ͕࿐ग़ͷେ͖͍ը૾ʹً͓͍ͯ౓஋͕ 16 ະຬͱͳΔ৔߹ʹࠇͭͿΕɼ࠷΋࿐ग़ͷখ͍͞ը૾ʹً͓͍ͯ౓஋
͕ 255 ͱͳΔ৔߹ʹً౓஋ͷ๞࿨ͱఆٛ͢ΔɽΧϝϥͷϨεϙϯεΧʔϒΛઢ‫͠ͱܗ‬ɼԼΧϝϥͰࠇͭͿΕͳ͠ʹࡱӨՄೳͳ࠷খً౓Λ 1 ͱͨ͠৔߹ɼਤ 10ʹࣔͨ͠γϟολʔεϐʔυʹ͓͚ΔμΠφϛοΫϨ

ൃੜ͍ͯ͠ΔɽҎ্ΑΓɼຊ‫͚͓ʹڀݚ‬Δγϟολʔεϐʔυͷઃఆख๏͕ɼैདྷख๏ʹ͓͚ΔྔࢠԽ෯ͷ૿େʹΑΔ‫ݟ‬ͨ໨΁ͷӨ‫ڹ‬Λ‫ݮ‬গͤ͞Δ͜ͱʹ༗ޮͰ͋Δ͜ͱ͕֬ϯδΛ‫͢ࢉܭ‬ΔͱɼԼΧϝϥ͕ 1 : 28.58 ɼ্Χϝϥ͕

22.47 : 215.23 ͱͳΔɽಛʹ্ΧϝϥͰࡱӨ͢ΔۭͷμΠφϛοΫϨϯδ͸ඇৗʹߴ͍ʢշ੖࣌ʹ 1 : 217 ఔ౓ʣͨΊɼຊ࣮‫Ͱڥ؀ݧ‬͸μΠφϛοΫϨϯδ͕ෆेೝͰ͖Δɽ෼Ͱ͋ͬͨɽશըૉΛ๞࿨ͳ͘ࡱӨ͢ΔͨΊʹ͸ɼ͞
ද3ैདྷख๏͓ΑͼఏҊख๏ͷγϟολʔεϐʔυͱྔࢠԽ෯
Table 3 Shutter speeds and quantization
steps

ఏ
Ҋ
ख
๏
ै
དྷ
ख
๏

Βʹ‫ޫݮ͍ڧ‬Λߦ͏ ND ϑΟϧλΛऔΓ෇͚Δඞཁ͕͋Δɽ·ͨɼద੾ͳ ND ϑΟϧλͷબఆͷࡍɼ‫ݮ͍ڧ‬ޫʹΑΓࠇͭͿΕ͢Δըૉ਺͕૿Ճ͢Δ͜ͱʹΑΔɼ
‫ͨݟ‬໨΍ը૾ิਖ਼ͷॲཧ΁ͷӨ‫ڹ‬΋ߟྀ͢΂͖Ͱ͋Δɽγϟολʔεϐʔυ [ms]

࠷େً౓

ྔࢠԽ෯

0.1
4.1
14.4
43.3
0.1
0.4
1.6
6.4

1000
24.4
6.94
2.31
1000
250
62.5
15.6

3.92
0.10
0.03
0.009
3.92
0.98
0.25
0.06

˞࠷େً౓ͱྔࢠԽ෯͸૬ରྔͰ͋Γɼ෺ཧతͳҙຯΛ࣋ͨͳ͍ɽ
·ͨɼࡱӨ͞ΕΔը૾͸ 256 ֊ௐͱ͢Δɽ6·ͱΊͱࠓ‫ޙ‬ͷల๬ຊ࿦จͰ͸ɼςϨϓϨθϯε΍ IBLɼ֦ுςϨϓϨθϯεʹద༻ՄೳͳɼෆՄࢹྖҬͷͳ͍શఱ‫ ٿ‬HDRಈը૾ͷੜ੒ख๏ΛఏҊͨ͠ɽఏҊख๏Ͱ͸શํҐΧ
ϝϥ 2 ୆ΛऔΓ෇͚ͨඈߦધΛ༻͍ͯ HDR ۭࡱΛߦ͍ɼ্ԼΧϝϥ͔ΒࡱӨ͞Εͨશఱ‫ٿ‬ը૾ͷ࢟੎ิਖ਼͓Αͼ৭ௐิਖ਼Λߦ͏͜ͱʹΑΓɼશఱ‫ ٿ‬HDR ը૾Λੜ੒ͨ͠ɽ࣮ࡍʹຊֶΩϟϯύε্ۭ͔ΒࡱӨ͞Εͨಈը૾Λ༻͍ͯશఱ‫ ٿ‬HDR ը૾͓Αͼಈը૾ͷେ૔ɾਆ‫ݪ‬ɾԣ໼ : ແਓඈߦધʹ౥ࡌ͞Εͨ 2 ୆ͷશํҐΧϝϥΛ༻͍ͨෆՄࢹྖҬͷͳ͍શఱ‫ ٿ‬HDR ϏσΦͷੜ੒ੜ੒࣮‫ݧ‬Λߦ͍ɼ࣮ࡍͷ‫ڥ؀‬Λ஧࣮ʹ൓өͨ͠શఱ‫ٿ‬

HDR ϏσΦΛੜ੒Ͱ͖ͨɽੜ੒͞Εͨશఱ‫ ٿ‬HDR ը૾‫܈‬͸ɼैདྷͷ LDR ࡱ૾ͱൺֱ͠ࢹೝੑ͕޲্ͨ͠ɽ
·ͨɼఏҊख๏ʹ͓͚Δ 2 ୆ͷશํҐΧϝϥʹΑΔෆ
ՄࢹྖҬͷͳ͍‫؍‬ଌ͸ɼैདྷͷఱۭޫϞσϧʹΑΔෆ

[12]

[13]

ՄࢹྖҬิ‫׬‬ख๏ͱൺֱ͠ɼԾ૝෺ମ΁ͷϥΠςΟϯ
άʹ༗ޮͰ͋Δ͜ͱ͕֬ೝ͞Εͨɽࠓ‫ޙ‬ɼੜ੒͞Εͨશఱ‫ ٿ‬HDR ಈը૾͓Αͼ 4.2 અͰಘͨΧϝϥҐஔ࢟[14]੎৘ใΛ༻͍ͯɼIBL ౳ʹΑΔ֦ுςϨϓϨθϯεγ
εςϜͷߏஙΛߦ͏ɽ
ँࣙ

[15]

ຊ‫ڀݚ‬͸ɼจ෦Պֶলಛผ‫ܦ‬අʮΞϯϏΤϯτ‫ڥ؀‬஌ೳ‫ڀݚ‬૑ग़ࣄ‫ۀ‬ʯɼ೔ຊֶज़ৼ‫ڵ‬ձՊֶ‫ڀݚ‬අิॿۚ (‫ج‬൫‫( ڀݚ‬A)ɼNo.23240024)ɼ͓Αͼ NAIST ઌ୺త‫ڀݚ‬࿈‫ʹۀࣄܞ‬ΑΔɽ

[16]

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2009 ೥໋ཱ‫ؗ‬େֶ৘ใཧ޻ֶ෦ϝσΟΞ৘ใֶՊதୀɽ2011 ೥ಸྑઌ୺Պֶٕ
ज़େֶӃେֶ৘ใՊֶ‫ڀݚ‬Պത࢜લ‫ظ‬՝ఔमྃɽ‫ࡏݱ‬ɼಉେത࢜‫ظޙ‬՝ఔʹࡏֶதɽෳ߹‫ײ࣮ݱ‬ͷ‫ࣄैʹڀݚ‬ɽిࢠ৘ใ
௨৴ֶձɼ৘ใॲཧֶձɼIEEEɼACM֤ձһɽਆ‫ ݪ‬੣೭ ʢਖ਼ձһʣ
2002 ೥ಸྑઌ୺Պֶٕज़େֶӃେֶത࢜‫ظޙ‬՝ఔमྃɽಉ೥ಉେ৘ใՊֶ‫ݚ‬‫ڀ‬Պॿ‫ڭ‬ɼ2010 ೥ಉେ।‫ڭ‬तɼ‫ࢸʹࡏݱ‬ΔɽίϯϐϡʔλϏδϣϯɼෳ߹‫ײ࣮ݱ‬ͷ‫ࣄैʹڀݚ‬ɽത࢜ (޻ֶ)ɽ2002 ೥ిࢠ৘ใ௨৴ֶձֶज़঑ྭ৆ड৆ɽFIT2005
࿦จ৆ड৆ɽిࢠ৘ใ௨৴ֶձɼ৘ใॲ
ཧֶձɼIEEE ֤ձһɽԣ໼ ௚࿨ ʢਖ਼ձһʣ
1974 ೥େࡕେֶ‫ֶ޻ૅج‬෦৘ใ޻ֶ
Պଔɽ1979 ೥ಉେେֶӃത࢜‫ظޙ‬՝ఔमྃɽ޻തɽಉ೥ిࢠٕज़૯߹‫ॴڀݚ‬ೖॴɽҎདྷɼը૾ॲཧιϑτ΢ΣΞɼը૾σʔλϕʔεɼίϯϐϡʔλϏδϣϯͷ‫ڀݚ‬ʹैࣄɽ1986ʙ87 ೥ϚοΪϧେɾ஌ೳ‫ػ‬ց‫ڀݚ‬ηϯλʔ٬һ‫ڭ‬तɽ1992 ೥ಸྑઌ୺Պֶٕज़େֶӃେֶɾ৘ใՊֶηϯλʔ‫ڭ‬तɽ‫ࡏݱ‬ɼಉେ৘ใՊֶ‫ڀݚ‬Պ‫ڭ‬तɽ1990 ೥ɼ2007 ೥৘ใॲཧֶձ࿦จ
৆ड৆ɽ2005 ೥৘ใॲཧֶձϑΣϩʔɼిࢠ৘ใ௨৴ֶձϑΣϩʔɼ2012 ೥ຊձϑΣϩʔɽ৘ใॲཧֶձɼਓ޻஌ೳֶձɼ
೔ຊೝ஌Պֶձɼө૾৘ใϝσΟΞֶձɼ
IEEEɼACM SIGGRAPH ֤ձһɽ