ၮ␆⺰ᢥ

放射状カメラによる実時間全周囲立体映像撮像システムട⮮ િ᣿*1ၔ ၷ⺈*1ධỈ ቁᄥ*1ᣂዬ ⧷᣿*1Ꮉ਄ ⋥᮸*1⥪*1

Omni-directional Stereoscopic Video Camera System for Visual Telexistence
Nobuaki Kato*1 , Kensei Jo*1 , Kouta Minamizawa*1 , Hideaki Nii*1 , Naoki Kawakami*1 and Susumu Tachi*1
Abstract – This paper reports a novel camera system that captures immersive 3D
motion pictures in real time for a telexistence environment. The system is composed ofeight pairs of cameras placed densely to cover all ﬁeld of view, in order to reconstruct
stereoscopic visual ﬁeld for observers, taking the physical constraints of human vision system into account. The developed system fully satisﬁed the requirements to archive visualtelexistence: the system can present panoramic and stereoscopic motion images interactivity. We showed an application in which the proposed image-capture system was applied
to the immersive visual display TWISTER and an experiment of visual telexistence wasput into practice.
Keywords : panoramic stereo vision, radial camera, immersive vision, telexistence1

はじめに

69+56'4ో๟࿐┙૕ࠞࡔ࡜

࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬ [1] ߣߪ, ೑↪⠪ߦኻߒߡ⃻࿷޿ࠆ႐ᚲ߆ࠄ㆙ߊ㔌ࠇߚ႐ᚲߦ޽ߚ߆߽ሽ࿷ߒߡ޿ࠆࠃ

࠺࡯࠲ォㅍ߁ߥᗵⷡࠍਈ߃ࠆᛛⴚࠍᜰߔ. ․ߦᧄ⎇ⓥߢߪ, ⷞⷡ࠺ࠖࠬࡊ࡟ࠗࠍ↪޿ߡ, ታ਎⇇ߦ߅ߌࠆ㆙㓒࿾ߦ޿ࠆᗵⷡࠍឭ␜ߔࠆᛛⴚࠍⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬߣቯ
⟵ߔࠆ. ㄭᐕߢߪ CAVE[2], TWISTER[3][4] ߥߤߩᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗߣ๭߫ࠇࠆⵝ⟎߇㐿⊒ߐࠇߡ߅ࠅ,ⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬ߳ߩᔕ↪߇ᦼᓙߐࠇߡ޿ࠆ.
ߒ߆ߒߥ߇ࠄ, ⃻⁁ߢߪᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗߦឭ␜ߐ

⸘▚ᯏ

೑↪⠪

⸘▚ᯏ

ឭ␜ࠪࠬ࠹ࡓ

᠟௝ࠪࠬ࠹ࡓ

࿑1ో๟࿐┙૕ታ౮ᤋ௝᠟௝ߦࠃࠆⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬࠪࠬ࠹ࡓ.
Fig. 1 Conceptual drawing of the visual telexistence systemࠇࠆᤋ௝ࠦࡦ࠹ࡦ࠷ߪ CG ᤋ௝߇ਥߢ޽ࠅ, ೑↪⠪߇ᴚ౉ߢ߈ࠆⅣႺߩᄢᄙᢙߪ CG ਎⇇߆ࠄ᭴ᚑߐࠇߡ޿

69+56'4

ࠆ. ߎߩℂ↱ߪ, ⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬࠍታ⃻น⢻ㆬᛯߥᤋ௝ࠍขᓧߢ߈ࠆ᠟௝ⵝ⟎߇߶ߣࠎߤሽ࿷ߒߥ޿ߎ
ߣߦ⿠࿃ߒߡ޿ࠆ. ⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬ߇น⢻ߥᤋ௝ࠍขᓧߢ߈ࠆࠪࠬ࠹ࡓ߇ታ⃻ߔࠆߣ, ࠹࡟ࡆ᡼69+56'4⸘▚ᯏᤋ௝ࠦࡦ࠹ࡦ࠷↢ᚑㆬᛯㅍߦ߅ߌࠆ↢ਛ⛮ߩࠃ߁ߦ, ᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗࠍ↪

ᤋ௝ࠦࡦ࠹ࡦ࠷ขᓧ

޿ߡ⃻࿷ߘߩ႐ᚲߦ޿ࠆ߆ߩࠃ߁ߦ㆙㓒࿾ߩᤋ௝ࠍ㐓⾨ߢ߈ࠆࠃ߁ߦߥࠆ (࿑ 1). ߐࠄߦ෺ᣇะߩㅢାࠍน

ࠕ࡯ࠞࠗࡉᤋ௝ࠦࡦ࠹ࡦ࠷ขᓧ
೑↪⠪

⸘▚ᯏ
೑↪⠪

⸘▚ᯏ

ឭ␜ࠪࠬ࠹ࡓ

*&&ో๟࿐┙૕ᤋ௝
↢ᚑࠪࠬ࠹ࡓ

ో๟࿐┙૕᠟௝ࠞࡔ࡜

⢻ߣߔࠆࠃ߁ߦ᜛ᒛߔࠆߎߣߦࠃࠅ, ⃻࿾ߩੱ‫ߘߣޘ‬ߩ႐ᚲߦ޿ࠆ߆ߩࠃ߁ߦࠗࡦ࠲࡜ࠢ࠹ࠖࡉߥࠦࡒࡘ࠾
ࠤ࡯࡚ࠪࡦࠍⴕ߁ߎߣ߽น⢻ߣߥࠆ. ߹ߚ, ㆙㓒࿾ߩ㘑࿑ 2 ᤋ௝ࠦࡦ࠹ࡦ࠷ߦࠃࠆࠕ࡯ࠞࠗࡉࠪࠬ࠹ࡓ.
Fig. 2 Conceptual drawing of the videoarchive system

᥊ࠍ⸥㍳ߒߡᤋ௝ࠦࡦ࠹ࡦ࠷ࠍ↢ᚑߒ, ଻ሽߔࠆߎߣ
ߦࠃࠅ, ೑↪⠪ߪ⥄ಽߩᅢ߈ߥᤨߦᅢ߈ߥࠦࡦ࠹ࡦ࠷
ࠍㆬ߮, ᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗࠍ↪޿ߡᅢ߈ߥ႐ᚲ߳ᴚ

⌕⋡ߒߚ. TWISTER ߪ೑↪⠪ߩ㗡ㇱࠍㅊᓥߔࠆߎߣ

౉ߢ߈ࠆࠃ߁ߦߥࠆ (࿑ 2). ߎߩࠃ߁ߥ⋡⊛ߦහߒߚߥߊ 360[degree] ߩ㘑᥊ࠍឭ␜ߔࠆߎߣ߇น⢻ߢ㧘㗡ᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗߣߒߡᧄ⺰ᢥߢߪ TWISTER ߦㇱㅊᓥߦࠃࠆ VR ㈮޿߽ዋߥߊ, 㐳ᤨ㑆ߩⷰ⾨ࠍᭉߒ

*1 ᧲੩ᄢቇᄢቇ㒮ᖱႎℂᎿቇ♽⎇ⓥ⑼*1 Graduate School of Information Science and Technology,

The University of Tokyo߻ߎߣ߽ኈᤃߢ޽ࠆ.
ᧄ⺰ᢥߢߪ TWISTER ߦઍ⴫ߐࠇࠆⓨ㑆ᴚ౉ဳ࠺ࠖ

日本バーチャルリアリティ学会論文誌 Vol.13, No.3, 2008ࠬࡊ࡟ࠗࠍ↪޿ߚⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬࠪࠬ࠹ࡓ
ࠍታ⃻ߔࠆߚ߼㧘ⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬߦᔅⷐߥ
⃻ታ਎⇇ߩⷞⷡᖱႎࠍขᓧߔࠆ᠟௝ࠪࠬ࠹ࡓࠍឭ᩺
ߔࠆ㧚ⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬࠍታ⃻ߔࠆߚ߼ߦߪ, ࠪࠬ࠹ࡓߪࡃ࡯࠴ࡖ࡞࡝ࠕ࡝࠹ࠖߩ 3 ᧦ઙ [5] ߦട߃ߡ,ታⓨ㑆ᤋ௝ߩౣ⃻ᕈߣ޿߁᧦ઙࠍḩߚߐߥߌࠇ߫ߥࠄ
ߥ޿. ࡃ࡯࠴ࡖ࡞࡝ࠕ࡝࠹ࠖߩ 3 ᧦ઙߣߪ, ਃᰴరᕈ,⥄Ꮖᛩ኿ᕈ, ታᤨ㑆ᕈࠍᜰߒ, ࡃ࡯࠴ࡖ࡞࡝ࠕ࡝࠹ࠖ
ߦ៤ࠊࠆࠪࠬ࠹ࡓ߇ḩߚߔߴ߈ᔅⷐਇนᰳߥⷐ⚛ߢ޽
ࠆ. ߐࠄߦ, ⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬࠍḩߚߔߚ߼ߦߪࡃ࡯࠴ࡖ࡞࡝ࠕ࡝࠹ࠖߩࠪࠬ࠹ࡓߦࠃߞߡ↢ᚑߐࠇࠆᤋ௝߇, ೑↪⠪߇᥉Ბ⃻ታ਎⇇ߢ⷗ߡ޿ࠆࠃ߁ߥ
ᤋ௝ࠍౣ⃻ߒߡ޿ࠆᔅⷐ߇޽ࠆߚ߼, ᧄ⺰ᢥߢߪታⓨ㑆ᤋ௝ߩౣ⃻ᕈߣ޿߁᧦ઙࠍട߃ߚ. ታⓨ㑆ᤋ௝ߣߪ,ⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬࠍⴕ߁ߚ߼ߩశ✢ᖱႎࠍᜰߒ, ᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗߩ೑↪⠪ߦኻߒߡౣ⃻ߔࠆᔅⷐ߇޽ࠆᖱႎߢ޽ࠆ. ⸒޿឵߃ࠆߣ, ੱ㑆߇๟࿐ࠍ⷗
࿁ߒߚᤨߩਔ⌒ߦ౉኿ߔࠆోߡߩ௝ᖱႎߢ޽ࠆ.
ߎߩⷰὐ߆ࠄ, ᓥ᧪ߩ᠟௝ࠪࠬ࠹ࡓߪએ਄ 4 ߟߩ᧦ઙࠍోߡߪḩߚߒߡ޿ߥ߆ߞߚߚ߼, ⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬࠍታ⃻ߢ߈ࠆᤋ௝ࠍ᠟௝ߢ߈ߥ߆ߞߚ. ଀
߃߫, Ꮉ⷏ࠄ [6] ߩⵝ⟎߿ ViewPlus ␠ߩ Astro Sen-sor Series[7] ߪⓨ㑆਄ߩ 1 ὐߦ 1 ߟߩ⌒ࠍ߅޿ߚᤨߩ
360[degree] ߩశ✢ᖱႎࠍขᓧߒߡ޿ࠆ. ߒ߆ߒߥ߇ࠄ,೑↪⠪ߦߣߞߡᔅⷐߥᖱႎߪ๟࿐ࠍ⷗࿁ߒߚᤨߩਔ⌒ߩ૏⟎ 2 ὐߩశ✢ᖱႎߢ޽ࠅ, Ꮉ⷏ࠄߩⵝ⟎߿ Astro
Sensor Series ߢขᓧߒߚశ✢ᖱႎߦߪ, ߎߩ⷗࿁ߒേ
૞ߣਔ⌒૏⟎ߦኻᔕߒߚశ✢ᖱႎ߇฽߹ࠇߡ޿ߥ޿.
Ꮉ⷏ࠄߩⵝ⟎߿ Astro Sensor Series ߪ, ⷗࿁ߒേ૞ߣ
ੱ㑆ߩਔ⌒૏⟎ߦኻᔕߒߚశ✢ᖱႎࠍౣ⃻ߔࠆߎߣ߽
น⢻ߢߪ޽ࠆ߇, ৻ᐲਃᰴరⓨ㑆ࠍౣ᭴ᚑߔࠆᔅⷐ߇
޽ࠆߚ߼, ㆃᑧ߇ᄢ߈ߊߥࠅ, ࡃ࡯࠴ࡖ࡞࡝ࠕ࡝࠹ࠖ
ߩታᤨ㑆ᕈߩ᧦ઙࠍ៊ߥ߁. ৻ᣇ, Virtual Dome[8]߿ S.K. Nayer ߣ A.D. Karmarkar[9] ߩⵝ⟎, S.Pelegࠄ [10] ߩⵝ⟎, ↰ਛࠄ [11] ߩⵝ⟎ߦ߅޿ߡߪ, 㗡ㇱߩ⷗࿁ߒߦኻߔࠆ࿁ォゲࠍ࿕ቯߒߚᤨߩ⷗࿁ߒേ૞ߣੱ
㑆ߩਔ⌒૏⟎ߦኻᔕߒߚశ✢ᖱႎߩขᓧ߇น⢻ߢ޽ࠆ߇, ↢ᚑᤋ௝ߩࡈ࡟࡯ࡓ࡟࡯࠻߇ૐ޿ߚ߼ߦ, ࡃ࡯࠴ࡖ࡞࡝ࠕ࡝࠹ࠖߩታᤨ㑆ᕈߩ᧦ઙࠍḩߚߒߡ޿ߥ޿. ⍹Ꮉࠄ [12] ߩⵝ⟎ߢߪⶄᢙߩోᣇ૏ࠞࡔ࡜߆ࠄᓧࠄࠇ
ߚᤋ௝ࠍ࡝ࠕ࡞࠲ࠗࡓߦਃᰴరวᚑߒ, ೑↪⠪ߩⷞὐ૏⟎߿ⷞ✢ᣇะߦ޽ࠊߖߡ HMD ߦឭ␜ߐߖࠆࠪࠬ࠹
ࡓࠍ㐿⊒ߒߡ޿ࠆ߇, ᧄ⎇ⓥߢ↪޿ࠆ TWISTER ߪ

360[degree] ߩⷞ㊁ߩᤋ௝ࠍឭ␜น⢻ߥ⸳⟎ဳߩⵝ⟎ߢ޽ࠅ, 㗡ㇱㆇേߦ઻߁ឭ␜ᤋ௝ߩᄌᦝߩᔅⷐ߇ߥ޿ߚ߼ ᧄ⎇ⓥߢߪ TWISTER ߩ․㐳ߦೣࠅ, 㗡ㇱㅊᓥ߇ਇⷐߥࠪࡦࡊ࡞ߥࠪࠬ࠹ࡓࠍ᭴▽ߔࠆ㧚

2

全周囲立体撮像カメラの設計

2.1 設計方針ⷞⷡ⊛࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬߩ᧦ઙࠍḩߚߔࠪࠬ࠹ࡓ
ࠍ⸳⸘ߔࠆߚ߼ߦ, ⸳⸘ࡄ࡜ࡔ࡯࠲ࠍ᳿ቯߔࠆ.
߹ߕ, ਃᰴరᕈߣ޿߁᧦ઙߦߟ޿ߡ⠨ᘦߔࠆ. ਃᰴరᕈࠍḩߚߔߚ߼ߦߪਃᰴర਎⇇ߩቢోߥౣ᭴▽߇ℂᗐ⊛ߢ޽ࠆ߇, ⸘▚㊂߇ᄙᄢߦߥࠅ, ታᤨ㑆ᕈࠍḩߚߖߥ޿. ৻ᣇ, 㐳↰ࠄ [13] ߦࠃࠆߣ, ੱ㑆ߪ৻⥸⊛ߦ‛૕ࠍⷰኤߔࠆ〒㔌 (ᢙ㨙⒟ᐲ) ߢߪਥߦユマ, ਔ⌒ⷞᏅ, ㆇേⷞᏅߦࠃࠅਃᰴరⓨ㑆ߩᖱႎࠍౣ᭴ᚑߒߡ޿
ࠆߣ⸒ࠊࠇߡ޿ࠆ. ߎߎߢ, ᧄ⎇ⓥߢ↪޿ࠆᴚ౉ဳ࠺ࠖ
ࠬࡊ࡟ࠗ TWISTER ߪታⵝ߇ኈᤃߢ⸘▚⽶⩄߽ዋߥ޿ユマߣਔ⌒ⷞᏅߦၮߠ޿ߡ┙૕ᤋ௝ࠍឭ␜ߔࠆࠃ߁
⸳⸘ߐࠇߡ޿ࠆ. ߹ߚ㧘⃻⁁ߩ TWISTER ߢߪㆇേⷞᏅߦࠃࠆਃᰴరⓨ㑆ߩౣ᭴ᚑߪ⠨ᘦߐࠇߡ޿ߥ޿ߚ߼, ᧄ⎇ⓥߢߪ㧘᠟௝ߔࠆᤋ௝ߩਃᰴరᕈࠍḩߚߔߚ߼ߩ᧦ઙߣߒߡユマߣਔ⌒ⷞᏅߩߺࠍ⠨ᘦߔࠆ㧚ᰴߦ⥄Ꮖᛩ኿ᕈߣ޿߁᧦ઙߦߟ޿ߡ⠨ᘦߔࠆ. ᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗߪ೑↪⠪ߩᐢ޿ⷞ㊁ࠍឭ␜ᤋ௝ߢⷒ߁
ߎߣߢ, ೑↪⠪ߦᴚ౉ᗵࠍਈ߃ߡ޿ࠆ. ೑↪⠪ߩ㗡ㇱߩะ߈ߦㅊᓥߒߡ, ߘߩᣇะߩᐢ޿ⷞ㊁ߩᤋ௝ࠍឭ␜
ߔࠆߎߣߦࠃࠅ⥄Ꮖᛩ኿ᕈࠍḩߚߔߎߣ߇น⢻ߢ޽ࠆ߇, ߎߩ႐วߪᤋ௝߳ߩࡈࠖ࡯࠼ࡃ࠶ࠢߦࠃࠅㆃᑧ߇
↢ߓ, ታᤨ㑆ᕈࠍḩߚߖߥ޿. ৻ᣇ, ޽ࠄ߆ߓ߼ో๟࿐
ߩᤋ௝ࠍขᓧߒߡ߅ߊߎߣߦࠃࠅ, ೑↪⠪߇ߤߩᣇะ
ࠍะ޿ߡ߽ታᤨ㑆ߢᤋ௝ࠍᛩᓇน⢻ߣߥࠆ. ߒߚ߇ߞߡ, ࠪࠬ࠹ࡓߪᏱߦ 360[degree] ߩᤋ௝ࠍᴚ౉ဳ࠺ࠖࠬ
ࡊ࡟ࠗ߳ߩឭ␜ᤋ௝ߣߒߡ↢ᚑߒߡ߅ߌ߫⦟޿.
ਃ⇟⋡ߦታᤨ㑆ᕈߣ޿߁᧦ઙߦߟ޿ߡ⠨ᘦߔࠆ. ታᤨ㑆ᕈߩ᧦ઙߪࡈ࡟࡯ࡓ࡟࡯࠻ߩ᧦ઙߣㆃᑧߩ᧦ઙߦ
⚦ಽൻߢ߈ࠆ. ᥉Ბ⷗ߡ޿ࠆታ਎⇇ߩࠃ߁ߥᤋ௝ࠍ↢ᚑߔࠆߚ߼ߦߪ, ᤋ௝ਛߢṖࠄ߆ߥㆇേ⁁ᘒࠍౣ⃻ߔࠆᔅⷐ߇޽ࠆ. ߘߩߚ߼ߦߪ, ੱ㑆ߩࠦࡦ࠻࡜ࠬ࠻ᗵ
ᐲ [14] ߆ࠄ, ᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗߦឭ␜ߔࠆ↢ᚑᤋ௝ࠍ 30[fps] એ਄ߩࡈ࡟࡯ࡓ࡟࡯࠻ߢᦝᣂߒߥߌࠇ߫ߥ
ࠄߥ޿. ߹ߚ, ᠟௝ࠪࠬ࠹ࡓࠍ⠨߃ࠆ႐ว, ᠟௝ߩࡈ࡟࡯ࡓ࡟࡯࠻߽ 30[fps] એ਄߇ᔅⷐߣߥࠆ. ߚߛߒ, ᠟௝ߩࡈ࡟࡯ࡓ࡟࡯࠻ߪᯏ᪾⊛ߥⷐ࿃ߦࠃࠆ߽ߩߢ޽ࠅ,ࠞࡔ࡜ߩᕈ⢻ࠍี๧ߔࠆߎߣߦࠃࠅ⸃᳿ߢ߈ࠆߩߢ,ᧄ⎇ⓥߢߪਥߦ↢ᚑᤋ௝ߩࡈ࡟࡯ࡓ࡟࡯࠻ߦߟ޿ߡ⠨ᘦߔࠆ. ߹ߚ, ㆙㓒࿾ߣߩࠗࡦ࠲࡜࡚ࠢࠪࡦࠍⴕ߁႐ว, ৻⥸⊛ߦㆃᑧߪ 0.1[sec] ⒟ᐲߢ޽ࠇ߫⸵ኈߢ߈ࠆ
ߣ⸒ࠊࠇߡ߅ࠅ [15], ᧄࠪࠬ࠹ࡓߩㆃᑧ߽ 0.1[sec] ⒟ᐲߦᛥ߃ࠆߎߣࠍ⋡ᮡߣߔࠆ.
ᦨᓟߦታⓨ㑆ᤋ௝ߩౣ⃻ᕈߣ޿߁᧦ઙߦߟ޿ߡ⠨ᘦ
ߔࠆ. ⓨ㑆ߩశ✢ᖱႎࠍᰳ⪭ߥߊขᓧߔࠆߚ߼ߦߪ,7 ᰴరߩᖱႎขᓧ߇ℂᗐ⊛ߢ޽ࠆ [16]. ߒ߆ߒߥ߇ࠄ,ߘߩ޽߹ࠅߦ߽⤘ᄢߥ⸘▚㊂ߩߚ߼, ৾ᰴరߩశ✢ᖱ

加藤・城・南澤・新居・川上・舘 : 放射状カメラによる実時間全周囲立体映像撮像システム

TWISTER ߪ HMD ߥߤߩ㗡ㇱㅊᓥဳ࠺ࠖࠬࡊ࡟ࠗߣ
⇣ߥࠅ, ឭ␜㕙߇ታⓨ㑆ౝߢ࿕ቯߐࠇߡ޿ࠆߚ߼㧘ᧄ

శ✢ᖱႎ
ਔ⌒૏⟎

ో๟࿐┙૕᠟௝ࠞࡔ࡜ߢߪ᠟௝㕙߽࿕ቯߐࠇߚ߽ߩߢ
චಽߢ޽ࠅ㧘㗡ㇱߦㅊᓥߔࠆࠃ߁ߥᯏ᪾⊛ߥ࿁ォㆇേᯏ᭴ߪਇⷐߢ޽ࠆ㧚TWISTER ߦ߅޿ߡᡆૃ⊛ߥᱠⴕࠍታ⃻ߔࠆࠗࡦ࠲ࡈࠚ࡯ࠬߣ⚵ߺวࠊߖࠆߎߣߢ࿑ 1

หඨᓘ
ੱ㑆

࿁ォਛᔃ

ࠞࡔ࡜

ࠪࠬ࠹ࡓਛᔃ

࿑ 3 ឭ᩺ߔࠆ᠟௝ේℂ.
Fig. 3 Proposed method of capturing opticalinformationߩࠃ߁ߦਗㅴㆇേࠍⴕ߁ࠞࡔ࡜ࠪࠬ࠹ࡓ߽ታ⃻ߢ߈ࠆ߇㧘ᧄⓂߢߪ೑↪⠪ߩᱠⴕߪⴕࠊࠇߥ޿߽ߩߣߒߡ⠨߃ࠆ㧚߹ߕ, ╙ 1 ߩ⸳⸘ࡄ࡜ࡔ࡯࠲ߢ޽ࠆユマߣਔ⌒ⷞᏅࠍౣ⃻ߔࠆߎߣࠍ⠨߃ࠆߣ, ੱ㑆ߩਔ⌒ (65[mm]) ߩ૏⟎ߦࠞࡔ࡜ࠍ㈩⟎ߔࠆߎߣߦࠃࠅ, ฦ⌒ߦኻᔕߒߚ
ᤋ௝߇ขᓧߢ߈ࠆ (࿑ 3). ߹ߚ, ਔ⌒ࠞࡔ࡜ࡍࠕࠍ㗡ㇱ࿁ォਛᔃゲߣਔ⌒ߩ૏⟎㑐ଥࠍ଻ሽߒߚ߹߹ో๟࿐ߦ
㈩⟎ߔࠆߎߣߦࠃࠅ, ੱ㑆ߩ㗡ㇱ࿁ォゲ߇࿕ቯߐࠇߡ
޿ࠆᤨߩ 360[degree] ߩᤋ௝߇↢ᚑน⢻ߣߥࠆ. ߎࠇߪߜࠂ߁ߤඨᓘ 105∼115[mm] ߩ౞๟਄ߦࠞࡔ࡜ࠍ㈩⟎ߔࠆߎߣߣ╬ଔߢ޽ࠆ (࿑ 3). ߥ߅, ਔ⌒ࠞࡔ࡜ࡍࠕߩ㈩⟎ᣇᴺߪ, 1 ኻߩࠞࡔ࡜ࡍࠕࠍ㈩⟎ߔࠆᣇᴺߣⶄ
ᢙߩࠞࡔ࡜ࡍࠕࠍ㈩⟎ߔࠆᣇᴺ߇⠨߃ࠄࠇࠆ. ⶄᢙߩࠞࡔ࡜ࡍࠕࠍ㈩⟎ߔࠆ႐ว, ⷰኤ‛૕ߩ〒㔌ߦࠃߞߡ⛔วᤋ௝ߩធ⛯ὐߦ߅޿ߡਇㅪ⛯ᕈ߇↢ߓࠆ߇, ࠞࡔ‫ޓޓ‬࡜ࡍࠕ 1 ኻߩߺߩ႐ว, ో๟࿐ߩᤋ௝ࠍขᓧߔࠆߚ߼
࿑ 4 ឭ᩺ߔࠆࠞࡔ࡜㈩⟎.
Fig. 4 Design concept of the camera systemߦࠞࡔ࡜ࠍ࿁ォߐߖࠆᔅⷐ߇޽ࠅ, 㜞޿ࡈ࡟࡯ࡓ࡟࡯
࠻ࠍ⏕଻ߢ߈ߥ޿. ߒߚ߇ߞߡࡈ࡟࡯ࡓ࡟࡯࠻ࠍ⏕଻ߔࠆߚ߼ߦⶄᢙบߩࠞࡔ࡜ࡍࠕࠍ૶↪ߒ (࿑ 4), ᤋ௝ធ⛯ὐߩ໧㗴ߪ೎ߩᣇᴺߢ⸃᳿ߔࠆ. ℂᗐ⊛ߦߪή㒢ႎࠍขᓧߔࠆߎߣߪ㕖⃻ታ⊛ߢ޽ࠆ. ⃻ታ⊛ߦߪ, ೑ኻߩࠞࡔ࡜ࡍࠕࠍ㈩⟎ߔࠇ߫ో๟࿐ߦኻߒߡኒߥశ✢↪⠪ߩ㗡ㇱ૏⟎ࠍ೙㒢ߔࠆߎߣߦࠃࠅੑᰴర߳ߩ኿ᓇ

ᖱႎࠍขᓧߢ߈ࠆ߇, ⃻ታ⊛ߦߪࠞࡔ࡜߇‛ℂ⊛ߥᄢ߇น⢻ߣߥࠆߚ߼, ᠟௝ࠪࠬ࠹ࡓߩ⸘▚㊂ࠍシᷫߢ߈߈ߐࠍᜬߟߚ߼ߦ, ࠞࡔ࡜บᢙߪ೙㒢ߐࠇࠆ.

ࠆ. ᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗߩ೑↪⠪ߩ⒖േ▸࿐߇೙㒢ߐࠇߡ޿ࠆߣ઒ቯߔࠆߣ, ᠟௝ࠪࠬ࠹ࡓߪߘߩ▸࿐ౝߩశ✢ᖱႎࠍᰳ⪭ήߊขᓧߔࠇ߫⦟޿.
એ਄ߩ⼏⺰߆ࠄ, ࠪࠬ࠹ࡓߩ⸳⸘ߦ߅ߌࠆ⋡ᮡࡄ࡜ࡔ࡯࠲ࠍ߹ߣ߼ࠆߣએਅߩࠃ߁ߦߥࠆ.

1. ユマ߅ࠃ߮ਔ⌒ⷞᏅߩౣ⃻2. 360[degree] ߩⷞ㊁
3. ↢ᚑᤋ௝ߩࡈ࡟࡯ࡓ࡟࡯࠻ 30[fps] એ਄, ᠟௝߆ࠄឭ␜߹ߢߩㆃᑧ 0.1[sec] ⒟ᐲએਅ2.3 全周囲立体撮像カメラの試作એ਄ߩ⸳⸘ߦࠃࠅ, ో๟࿐┙૕᠟௝ࠞࡔ࡜ࠍ⹜૞ߒߚ (࿑ 5, ࿑ 6). ฦࠞࡔ࡜ߦߪ Point Grey Research ␠⵾ߩ FireﬂyMV(⸃௝ᐲ 640×480, ࡈ࡟࡯ࡓ࡟࡯࠻ᦨᄢ

60[fps], ኸᴺ 25×40[mm]) ࠍ૶↪ߒ, ὶὐ〒㔌 2.9[mm]࡟ࡦ࠭ (᳓ᐔ↹ⷺ 67[degree], ု⋥↹ⷺ 53[degree]) ࠍⵝ⌕ߒߚ. శゲߦኻߒ 90[degree] ࿁ォߐߖߡ↪޿ߚ(᳓ᐔ↹ⷺߪ 53.2[degree] ߣߥࠆ). FireﬂyMV ࠍ↪޿ࠆߣ, ᦨᄢ 8 ኻߩࠞࡔ࡜ࡍࠕࠍ㈩⟎น⢻ߣߥߞߚ.

4. ⷰኤ⠪ߩ⒖േ▸࿐ߦ߅ߌࠆోశ✢ᖱႎߩขᓧ
2.2

全周囲立体撮像カメラの設計

TWISTER ߢߪ, ೑↪⠪ߩ㗡ㇱ࿁ォߩゲࠍ౞╴࠺ࠖࠬࡊ࡟ࠗߩਛᔃゲߦᗐቯߒߡ߅ࠅ, ߎߩਛᔃゲ߆ࠄో๟࿐ࠍ⷗࿁ߒߚᤋ௝ࠍឭ␜ߒߡ޿ࠆ. ߎࠇߪߜࠂ߁
ߤ೑↪⠪ߩⷞὐ߇ਛᔃゲࠃࠅ㔌ࠇߚ৻ቯߩ౞๟਄ࠍ⒖േߔࠆߎߣߣ╬ߒ޿. ߒߚ߇ߞߡ, ో๟࿐┙૕᠟௝ࠞࡔ࡜ߪ, 㗡ㇱ࿁ォゲ߇࿕ቯߐࠇߡ޿ࠆߣ઒ቯߒߚᤨߩ
ੱ㑆߇๟࿐ࠍ⷗ᷰߔ᭽ሶࠍౣ⃻ߔࠆࠃ߁ߦ⸳⸘ߔࠆ.

3

カメラシステムの機能設計と構築ᴚ౉ဳ࠺ࠖࠬࡊ࡟ࠗߦឭ␜ߔࠆᤋ௝ࠍ↢ᚑߔࠆߚ߼
ߦ, ࠪࠬ࠹ࡓౝߦએਅߩᯏ⢻ࠍᜬߟᤋ௝ಣℂ࠰ࡈ࠻ࠍ⸳⸘ߔࠆᔅⷐ߇޽ࠆ.

1. ᱡߺ⵬ᱜ
2. ૏⟎ · ᆫ൓⵬ᱜ3. ⦡⵬ᱜ
4. ᤋ௝วᚑಣℂ

日本バーチャルリアリティ学会論文誌 Vol.13, No.3, 2008

਄㕙࿑



‫ޓ‬



‫ޓޓ‬



࿑7



૏⟎ᆫ൓⵬ᱜ↪ߩ౞╴ࠣ࡝࠶࠼.
Fig. 7 Calibration pattern







 



⵬ᱜ೨







‫ޓޓޓ‬

ᱜ㕙࿑

‫ޓ‬

⵬ᱜᓟ

࿑ 5 ⹜૞ࠞࡔ࡜ߩኸᴺ [mm].
Fig. 5 Dimensional outline of the camera system

‫ޓޓޓ‬

‫ޓ‬

࿑ 8 ૏⟎ᆫ൓⵬ᱜ೨ᓟߩขᓧ↹௝.
Fig. 8 Image of the correction of optical axis

3.2 位置 · 姿勢補正⸳⸘ߒߚࠞࡔ࡜㈩⟎ߩశゲߣታ㓙ߩࠞࡔ࡜శゲߪ৻⥌ߒߥ޿ߚ߼, ขᓧ↹௝ߪฦ‫ࠆߥ⇣ߢޘ‬૏⟎ߣᆫ൓ߢ᠟௝ߐࠇߚ⚿ᨐߣߥࠆ. ߘߎߢࠞࡔ࡜ߩ૏⟎ᆫ൓ࠍ৻⥌ߐߖࠆߚ߼ߦ޽ࠄ߆ߓ߼⸳⸘ߩᲑ㓏ߢ‛ℂ⊛ߦ⺞▵ߔࠆߣ⦟޿߇, ⺋Ꮕߪଐὼߣߒߡᱷࠆ. ߎߩዊߐߥ⺋Ꮕߦኻߒߡᧄ⺰ᢥߢߪࠞࡔ࡜ขᓧᤋ௝ߩ૏⟎ᆫ൓ࠍᤋ௝ߩ 3  3 ߩ኿ᓇⴕ೉ߦࠃࠆ኿ᓇᄌ឵ߦࠃߞߡࠠࡖ࡝
࿑ 6 ⹜૞ߒߚో๟࿐┙૕᠟௝ࠞࡔ࡜.
Fig. 6 Prototype of the panoramic stereo
cameraࡉ࡟࡯࡚ࠪࡦࠍⴕ߁. ᤋ௝਄ߩ․ᓽὐ߇ℂ⺰⊛ߦ૏⟎ߔࠆ↹௝ᐔ㕙਄ߩᐳᮡࠍ (x, y), ታ㓙ߦߘߩ․ᓽὐ߇
૏⟎ߒߡ޿ࠆᐳᮡࠍ (x , y  ) ߣߔࠆߣ, ᑼ (1) ߩ 3×3 ߩ኿ᓇᄌ឵ⴕ೉ P ࠍ᳞߼ࠇ߫⦟޿.

5. ᐳᮡᄌ឵
1∼3 ߪⶄᢙบߩࠞࡔ࡜ߩ․ᕈࠍ৻⥌ߐߖࠆߚ߼ߦᔅ
ⷐߥಣℂߢ޽ࠅ, 4 ߪⶄᢙบߩࠞࡔ࡜ߢขᓧߒߚᤋ௝
ࠍߟߥ߉วࠊߖߡ 360[degree] ߩ৻ߟߩᤋ௝ࠍ↢ᚑߔ
ࠆಣℂߢ޽ࠆ. ᦨᓟߦ, ↢ᚑߐࠇߚᤋ௝ߪ, ᴚ౉ဳ࠺ࠖ
ࠬࡊ࡟ࠗߩᒻ⁁ߦࠃߞߡᐳᮡᄌ឵ࠍⴕࠊߥߌࠇ߫ߥࠄ
ߥ޿. TWISTER ߳ឭ␜ߔࠆ႐วߦߪ, ౞╴ᐳᮡߦᄌ឵ߔࠆᔅⷐ߇޽ࠆ.

3.1 歪み補正ฦࠞࡔ࡜ߢขᓧߒߚᤋ௝ߪฦࠞࡔ࡜߇ᜬߟౝㇱ․ᕈ
ߦࠃߞߡ࡟ࡦ࠭ᱡߺ߇↢ߓࠆ. ࠞࡔ࡜࡟ࡦ࠭ߩᱡߺ⵬
ᱜߪ Zhang ࠄ [17] ߦࠃߞߡ◲ଢߥ⵬ᱜᣇᴺ߇ឭ᩺ߐࠇߡ߅ࠅ, ᧄࠪࠬ࠹ࡓߢ߽ Zhang ߦࠃࠆᚻᴺࠍ↪޿ߚ.

(tx , ty  , t)T = P (x, y, 1)T(1)ߎߩ኿ᓇᄌ឵ⴕ೉ P ࠍ᳞߼ࠆᚻ㗅ߪએਅߩࠃ߁ߦߥࠆ.

1. ࠠࡖ࡝ࡉ࡟࡯࡚ࠪࡦࡄ࠲࡯ࡦߩℂ⺰ᐳᮡࠍ⸘▚2. ฦࠞࡔ࡜ߢࠠࡖ࡝ࡉ࡟࡯࡚ࠪࡦࡄ࠲࡯ࡦࠍ᠟ᓇ
3. ࠠࡖ࡝ࡉ࡟࡯࡚ࠪࡦࡄ࠲࡯ࡦߩ↹㕙ᐳᮡࠍ⸘᷹
4. ታ᷹ᐳᮡ߆ࠄ኿ᓇᄌ឵ⴕ೉ࠍ⸘▚5. ฦࠞࡔ࡜ᤋ௝ࠍ኿ᓇᄌ឵
ᧄ⺰ᢥߢߪࠠࡖ࡝ࡉ࡟࡯࡚ࠪࡦࡄ࠲࡯ࡦߣߒߡߪ౞
╴ࠣ࡝࠶࠼ࠍ૶↪ߔࠆ (࿑ 7, Ꮐ࿑ߪਛᔃߦో๟࿐┙૕᠟௝ࠞࡔ࡜ࠍ⟎߈, ᩰሶὐߩ⸘᷹ࠍߒߡ޿ࠆ᭽ሶ. ฝ࿑ߪ౞╴ࠣ࡝࠶࠼ߩ᜛ᄢ࿑). ౞╴ࠣ࡝࠶࠼ߪඨᓘ߇

494[mm], 㜞ߐ 200[mm] ߩ߽ߩߢ, ߎߩ౞╴ࠣ࡝࠶࠼加藤・城・南澤・新居・川上・舘 : 放射状カメラによる実時間全周囲立体映像撮像システム‫ޓޓޓ‬=RKZGN?

180

᳓
᳓
ု
ု

160
140

ᱡ
ߺ

120

⺋

80

Ꮕ

60

‫ޓޓޓ‬
ᐔ
ᐔ
⋥
⋥

ᦨ
ᐔ
ᦨ
ᐔ

ᄢ
ဋ
ᄢ
ဋ

⺋
⺋
⺋
⺋

Ꮕ
Ꮕ
Ꮕ
Ꮕ

100

‫ޓޓޓ‬
࿑ 10 ࠞ࡜࡯࠴ࡖ࡯࠻᠟ᓇߩ᭽ሶ
Fig. 10 Snapshot of capturing the color chart

40
20
0

⵬ ᱜ ೨

⵬ ᱜ ᓟ
⵬
ᱜ

࿑ 9 ૏⟎⵬ᱜ೨ᓟߩᤋ௝ߩ᳓ᐔု⋥⺋Ꮕ.
Fig. 9 Pixel error of the image೨ߩᩰሶὐ߇ᧄ⺰ᢥߢ૶↪ߔࠆ․ᓽὐߣߥࠆ. ߎߩ 4 ὐ
ߩ․ᓽὐ߆ࠄ, ኿ᓇᄌ឵ⴕ೉ P ࠍ᳞߼ߚ.
࿑ 8(਄Ბ߇⵬ᱜ೨, ਅᲑ߇⵬ᱜᓟ) , ࿑ 9 ߦ⵬ᱜߩ⚿⵬

ᨐࠍ␜ߔ. ࿑ 8 ߪⶄᢙߩࠞࡔ࡜ߢขᓧߒߚ౞╴ࠣ࡝࠶ᱜᓟ࠼ߩ↹௝߇⛔วߐࠇߚ᭽ሶࠍ␜ߒߡ߅ࠅ, ⿒✢ߢ࿐߹ࠇߚㇱಽࠍ⷗ࠆߣ⵬ᱜ೨ߪฦࠞࡔ࡜ߢ᠟ᓇߒߚ᳓ᐔ✢߇৻⋥✢ߢߪߥߊ, ု⋥ᣇะߦ⺋Ꮕ߇޽ࠆ߇, ⵬ᱜᓟߢߪ᳓ᐔ✢ߩ⺋Ꮕ߇シᷫߐࠇߡ޿ࠆ. ࿑ 9 ߩࠣ࡜ࡈࠍ
⷗ߡ߽, ࠞࡔ࡜૏⟎ᆫ൓ߩ⵬ᱜࠍⴕߞߚ⚿ᨐ, ᳓ᐔ⺋Ꮕߣု⋥⺋Ꮕ߇ዊߐߊߥߞߡ޿ࠆߎߣ߇ಽ߆ࠆ. ߥ߅,

‫ޓޓޓ‬

ࠞࡔ࡜ #

ࠞࡔ࡜ $

࿑ 11 ⦡⵬ᱜ೨ᓟߩ↹௝.
Fig. 11 Result of the color correctionᦨᄢ᳓ᐔ࡮ု⋥⺋Ꮕߪ 8 บߩࠞࡔ࡜ߢ᠟ᓇߒߚࠣ࡝࠶
࠼↹௝ 8 ᨎߦ߅ߌࠆฦ 4 ὐߩ․ᓽὐߩ૏⟎⺋Ꮕߩᦨᄢ୯, ᳓ᐔ࡮ု⋥ᐔဋ⺋Ꮕߪฦ․ᓽὐߩ૏⟎⺋Ꮕࠍᐔဋߒߚ߽ߩߢ޽ࠆ.

3.3 色補正ฦࠞࡔ࡜ߢߪ CCD ߩ⦡ᗵᐲ߇⇣ߥࠆߚ߼, ↹௝㑆ߢ⦡⵬ᱜࠍⴕ߁ᔅⷐ߇޽ࠆ. ⦡⵬ᱜߩᚻ㗅ߪએਅߩࠃ
߁ߦߥࠆ.

1. ฦࠞࡔ࡜ߢࠞ࡜࡯࠴ࡖ࡯࠻ࠍ᠟ᓇ
2. ᠟ᓇߒߚ࠴ࡖ࡯࠻↹௝ߩฦ⦡ RGB ୯ࠍ⸘᷹3. ฦ RGB ߩℂ⺰୯ߣታ᷹୯ߩ㑐ଥࠍࠣ࡜ࡈൻ
4. ฦࠞࡔ࡜ߩ⦡․ᕈࠍ⴫ߔ⦡⋥✢ࠍផቯ
5. ฦࠞࡔ࡜↹௝ߩ↹⚛୯ࠍ᳞߼ߚ⦡⋥✢ߦࠃࠅᄌ឵
ᧄ⺰ᢥߢߪࠞ࡜࡯࠴ࡖ࡯࠻ߦ Gretag Macbeth ␠⵾ߩࠞ࡜࡯࠴ࡖ࡯࠻ࠍ↪޿ߚ. ࠞ࡜࡯࠴ࡖ࡯࠻ߩ᠟ᓇⅣ
ႺߣߒߡߪశḮߦጤፒ㔚᳇␠⵾ߩ౮⌀ᾖ᣿↪ࠕࠗ࡜ࡦࡊ PRF100V 350WD (⦡᷷ᐲ 5,900[K]) ࠍ 4 ߟ૶↪ߒ,᠟ᓇߔࠆࠞ࡜࡯࠴ࡖ࡯࠻ߩ๟࿐ߩ᣿ࠆߐ߇ 1,700[lx] ߦߥࠆࠃ߁ߦ㈩⟎ߒߚ (࿑ 10). એ਄ߩⅣႺਅߢฦࠞࡔ࡜
ߦࠃߞߡห৻ߩࠞ࡜࡯࠴ࡖ࡯࠻ࠍ᠟௝ߒ, ↢ᚑ↹௝߆ࠄࠞ࡜࡯࠴ࡖ࡯࠻ߩฦ⦡ߦኻߔࠆ RGB ୯ࠍ⸘᷹ߒߚ.
⦡⵬ᱜ೨ᓟߩࠞࡔ࡜↹௝ߪ࿑ 11 ߩࠃ߁ߦߥߞߚ. ߎߎߢߪ⦡Ꮕߩᦨ߽ᄢ߈޿ 2 ߟߩࠞࡔ࡜ห჻ߩ⦡⵬ᱜ⚿ᨐࠍ␜ߔ. ࿑ 12 ߦߪ 16 บߩࠞࡔ࡜ߢขᓧߒߚᤋ௝ߩ
ࠞ࡜࡯࠴ࡖ࡯࠻ (⦡:Natural3.5, R) ߩ୯ࠍ␜ߔ. ขᓧ↹௝ߣࠣ࡜ࡈࠃࠅ, ⵬ᱜᓟߪ⵬ᱜ೨ߣᲧセߒߡࠞࡔ࡜
㑆ߩ⦡୯ߩ߫ࠄߟ߈߇ᡷༀߐࠇߡ޿ࠆ᭽ሶ߇ಽ߆ࠆ.

3.4 映像統合
ฦࠞࡔ࡜ߦߟ޿ߡ᠟௝ߐࠇߚᤋ௝ࠍ৻ߟߩో๟࿐
ᤋ௝ߦ⛔วߔࠆߎߣࠍ⠨߃ࠆ. ╙ 2 ┨ߢㅀߴߚᤋ௝
ធ⛯ὐߩਇㅪ⛯ᕈߩ໧㗴ࠍᡷༀߔࠆߚ߼ߦ, ᧄ⺰ᢥߢߪᤋ௝Ⴚ⇇ߢࠕ࡞ࡈࠔࡉ࡟ࡦ࠺ࠖࡦࠣࠍᣉߔ. ฦࠞࡔ࡜ߪ᳓ᐔᣇะߦ 480[pixel](53.2[degree]) ߩᤋ௝ࠍข
ᓧߔࠆߩߢ, ਛᔃߩ 396[pixel] ࠍ⚐☴ߥᜂᒰ᠟௝㗔ၞ(45.0[degree]) ߣߒߡ೑↪ߒ, ߘߩᄖ஥ߦ޽ࠆ 31[pixel]ߩ㗔ၞࠍࡉ࡟ࡦ࠺ࠖࡦࠣߒߚ. ߎߩࡉ࡟ࡦ࠺ࠖࡦࠣ㗔ၞߪࠞࡔ࡜ߩ↹ⷺ, ࠞࡔ࡜ߩ⸃௝ᐲ, 㓞ࠅว߁ห⌒↪
ߩࠞࡔ࡜ߩ〒㔌, ࠞࡔ࡜ਛᔃ߆ࠄᤋ௝ធ⛯ὐ߇Ṗࠄ߆ߦߥࠆ࿾ὐߦ޽ࠆ‛૕߹ߢߩ〒㔌ߦࠃߞߡਃⷺ㑐ᢙ⊛ߦ᳞߼ࠄࠇࠆ. ᧄ⎇ⓥߩ႐ว, ᤋ௝ធ⛯ὐ߇ 2[m] ߩ૏⟎ߢㅪ⛯ߣߥࠆࠃ߁ߦࡉ࡟ࡦ࠺ࠖࡦࠣ᏷ࠍ᳞߼ߚߣߎ
ࠈ 31[pixel] ߣߥߞߚ.
࿑ 14 ߪࡉ࡟ࡦ࠺ࠖࡦࠣ೨ᓟߦขᓧߒߚ↹௝ߢ޽ࠆ.

日本バーチャルリアリティ学会論文誌 Vol.13, No.3, 2008

‫ޓޓޓ‬
⵬ ᱜ ೨
⵬ ᱜ ᓟ

‫ޓޓޓ‬
(KTGHN[/8+'''

120

2%+̂'ZRTGUU(KTGHN[/8100+'''⦡ 8042̂)2*

2TGEKUKQP˳':6̂&8+̂%#6̂/52%+̂'ZRTGUU'ZVTGOĜ5 ㅍାᯏ

2.̂(92'
2TGEKUKQP˳
&8+̂+

ߩ 60
୯

.#0˳%CV̂G

4042̂)2*

2.̂(92'&8+̂+ Ꮐ⌒↪

20.#0˳%CV̂G
&8+̂+

0

69+56'4

C amera 3
C amera 7
C amera 11
C amera 15
C amera 1
C amera 5
C amera 9
C amera 13ฝ⌒↪
69+56'4':6̂&8+̂%#6̂/5'ZVTGOĜ4 ฃାᯏ࿑ 12 ฦࠞࡔ࡜ߩ⦡୯.
Fig. 12 Color value of each cameras&8+̂+࿑ 15 ᠟௝ࠪࠬ࠹ࡓߩ᭴ᚑ.
Fig. 15 Conﬁguration of the proposed systemࡉ࡟ࡦ࠺ࠖࡦࠣ㗔ၞ ⚐☴ᜂᒰ↹ฦ㗔ၞ

4
రᤋ௝
ᤋ௝ 
ࠕ࡞ࡈࠔࡉ࡟ࡦ࠺ࠖࡦࠣ

4.1
೥㒰㗔ၞ

システムの実装と撮像結果

実装એ਄ߩ⸳⸘ߦၮߠ߈, ో๟࿐┙૕᠟௝ࠪࠬ࠹ࡓߩ
ታⵝࠍⴕߞߚ (࿑ 15). ࠪࠬ࠹ࡓߪฝ⌒↪ࠞࡔ࡜ߣᏀ
⌒↪ࠞࡔ࡜ߩߘࠇߙࠇߦߟ޿ߡ 8 บߩࠞࡔ࡜߆ࠄォㅍߐࠇࠆ࠺࡯࠲ࠍ IEEE1394 ࡝ࡇ࡯࠲ࡂࡉ (SANWA

‫ޓޓޓ‬

ᤋ௝ 

࿑ 13 ᤋ௝⛔วߩߚ߼ߩࡉ࡟ࡦ࠺ࠖࡦࠣᣇᴺ.
Fig. 13 Blending method for image integration

SUPPLY ␠⵾ RP1-GPH) ߢ㓸߼, 1 บߩฝ⌒/Ꮐ⌒↪
⸘▚ᯏ (Dell Precision 690, Intel Xeon 5130 ( 2),
2.00[GHz], DDR2ECC 3.25[GB], NVIDIA Quadro
FX550) ߩ IEEE1394 ࠗࡦ࠲ࡈࠚ࡯ࠬࡏ࡯࠼ (PLANEX␠⵾ PL-FW100PE) ߦ❬ߋᭂ߼ߡන⚐ߥ᭴ᚑߣߥߞ
ߡ޿ࠆ. ᧄࠪࠬ࠹ࡓߢߪ᠟௝ࠪࠬ࠹ࡓ஥ߩฝ⌒/Ꮐ⌒↪
⸘▚ᯏߢ↢ᚑߒߚᤋ௝ࠍㆃᑧߥߊ TWISTER ߳ォㅍߔࠆߚ߼ߦ, LAN ࠤ࡯ࡉ࡞೑↪ߩ DVI ᑧ㐳ᯏ (Gefen
␠⵾ EXT-DVI-CAT5-MS) ߣ 50[m] ߩ Cat-5e, LANࠤ࡯ࡉ࡞ࠍ↪޿ߚ. ో๟࿐┙૕᠟௝ࠪࠬ࠹ࡓߩᤋ௝ข
ᓧㇱಽߦߟ޿ߡߪ, FireﬂyMV ࠍᮡḰߢࠨࡐ࡯࠻ߒߡ
޿ࠆ PGR FlyCapture ࡜ࠗࡉ࡜࡝ࠍ↪޿ߡታⵝߒ, ో๟࿐┙૕ᤋ௝↢ᚑࠪࠬ࠹ࡓߦߟ޿ߡߪ, ╙ 3 ┨ߩ⸳⸘‫ࠣࡦࠖ࠺ࡦ࡟ࡉޓޓޓ‬೨ࡉ࡟ࡦ࠺ࠖࡦࠣᓟ

࿑ 14 ࡉ࡟ࡦ࠺ࠖࡦࠣ೨ᓟߩขᓧ↹௝.
Fig. 14 Result of the blending method

ࠍၮߦ OpenCV, OpenGL ࡜ࠗࡉ࡜࡝ߢታⵝߒߚ. ᧄࠪࠬ࠹ࡓߪ 2 บߩ⸘▚ᯏߣ 16 บߩࠞࡔ࡜ࠍ↪޿ߡో๟࿐ࠍ᠟௝ߔࠆࠃ߁ߦ⸳⸘ߒߚ߇, ࠪࠬ࠹ࡓߩᕈ⢻ࠍᬌ⸽ߔࠆߚ߼ߦߪ 1 บߩ⸘▚ᯏߦធ⛯ߐࠇߚ 8 บߩࠞࡔ࡜ߢචಽߢ޽ࠆߚ߼, ᧄ┨ߢߪඨ๟ಽߦ⋧ᒰߔࠆ 8ࡉ࡟ࡦ࠺ࠖࡦࠣ೨ߩ↹௝ਛߩ⿒޿ਃⷺᒻߢᜰ␜ߐࠇߚ

บߩࠞࡔ࡜ࠍ↪޿ߚ᭽ሶࠍ␜ߔ㧚ㇱಽߪᤋ௝ធ⛯ὐߢ޽ࠅ, ࡉ࡟ࡦ࠺ࠖࡦࠣᓟߩ↹௝ਛ

4.2 フレームレートと遅延の測定
ࡈ࡟࡯ࡓ࡟࡯࠻ߪ CPU ߇ឬ↹ߔࠆ 1 ࡈ࡟࡯ࡓ㑆ߩ๟
ᵄᢙࠍ QueryPerformanceCounter 㑐ᢙߦࠃࠅ᷹ቯߒ
ߚ. ᠟௝ࠪࠬ࠹ࡓౝㇱ (࿑ 15 ߩ FireﬂyMV ߆ࠄ Preci-ߩ⿒޿ਃⷺᒻ߆ࠄ㕍޿ਃⷺᒻߢᜰ␜ߐࠇߚ㗔ၞ߇ࡉ࡟ࡦ࠺ࠖࡦࠣ㗔ၞߢ޽ࠆ. ࡉ࡟ࡦ࠺ࠖࡦࠣࠍᣉߒߚ⚿ᨐ,ᤋ௝ߩធ⛯ὐ߇⋡┙ߚߥߊߥߞߡ޿ࠆ.

加藤・城・南澤・新居・川上・舘 : 放射状カメラによる実時間全周囲立体映像撮像システム

‫ޓޓޓ‬

‫ޓޓޓ‬

‫ޓޓޓ‬
࿑ 16 ⹜૞ࠪࠬ࠹ࡓߦࠃࠆ᠟௝㘑᥊.
Fig. 16 Snapshot of using the prototype camera system
⴫ 1 1 บߩ⸘▚ᯏߢߩ↢ᚑᤋ௝ߩࠬࡍ࠶ࠢ
Table 1 Speciﬁcation of the processed image
᳓ᐔ↹ⷺ
ု⋥↹ⷺ
⸃௝ᐲ
ࡈ࡟࡯ࡓ࡟࡯࠻ㆃᑧ (᠟௝ࠪࠬ࠹ࡓౝㇱ)ㆃᑧ (ࠪࠬ࠹ࡓో૕)Ꮐฝᤋ௝ߩᦨᄢု⋥⺋Ꮕ↹௝Ⴚ⇇ߢߩᦨᄢု⋥⺋Ꮕ

180.0[degree]×2
60.0[degree]
1584×600[pixel]×2
29∼30[fps]0.031∼0.033[sec]0.10∼0.14[sec]6[pixel]6[pixel]‫ޓޓޓ‬࿑ 18 TWISTER ߳ߩᤋ௝ឭ␜.
Fig. 18 Snapshot of displaying on TWISTER

዆ߨߚ. ߘߩ⚿ᨐ, ┙૕ⷞߩᚑ┙ࠍⵍ㛎⠪ోຬߦኻߒ
ߡ⏕⹺ߢ߈ߚ. ߹ߚ, ⥄ὼߢ✊㤀ߥᤋ௝ࠍ↢ᚑߢ߈ߡ޿ࠆߣ޿߁࿁╵߽ᓧࠄࠇߚ. ߒߚ߇ߞߡ, ↹௝ߩታ⃻ࠬࡍ࠶ࠢߣวࠊߖߡ⠨߃ࠆߣ, ឭ᩺ߒߚ᠟௝ࠪࠬ࠹ࡓ
ߪ⸳⸘ᣇ㊎ࠍోߡḩߚߒߡ޿ࠆߣ⠨߃ࠄࠇࠆ.

5

考察

sion690 ߹ߢ) ߩㆃᑧߪࠞࡔ࡜ߩ᠟௝㐿ᆎᤨὐ߆ࠄో๟
࿐┙૕ᤋ௝ࠍឬ↹ߔࠆ߹ߢߩᤨ㑆ࠍหߓߊ QueryPerfomanceCounter 㑐ᢙߦࠃࠅ᷹ቯߒߚ. ߹ߚ, 㘑᥊ࠍ᠟ᚑᤋ௝ߩࠬࡍ࠶ࠢߣ೑↪⠪߆ࠄߩᗵᗐߦࠃࠅ, ᧄࠪࠬ௝ߒߡ߆ࠄ TWISTER ߦឭ␜ߔࠆ߹ߢ (࿑ 15 ߩ Fire-ߔߥࠊߜ, ᧄࠪࠬ࠹ࡓߦࠃߞߡ᠟௝ߐࠇߚᤋ௝ߪ, ਃᰴ

ﬂyMV ߆ࠄ TWISTER ߹ߢ) ߩㆃᑧࠍ, ᠟ᓇኻ⽎ߩⷰኤ‛૕ߣឭ␜ᤋ௝ਛߩⷰኤ‛૕ࠍหᤨߦࡆ࠺ࠝࠞࡔ࡜

రᕈࠍ┙૕ⷞน⢻, ⥄Ꮖᛩ኿ᕈࠍ 360[degree] ߩⷞ㊁,ታᤨ㑆ᕈࠍ 29∼30[fps] ߅ࠃ߮ㆃᑧ 0.1[sec] ⒟ᐲ (᠟௝ߢ᠟ᓇߒ, ߘߩࡈ࡟࡯ࡓㆃࠇࠍ᷹ቯߒߚ.

ࠪࠬ࠹ࡓන૕ߢߪ 0.03[sec] ⒟ᐲ), ታⓨ㑆ᤋ௝ߩౣ⃻ᕈ

4.3 撮像と提示ታⵝߒߚࠪࠬ࠹ࡓߦࠃࠅ㘑᥊ࠍ᠟௝ߒ, TWISTER߳ߩឭ␜ࠍⴕߞߚ. ߎߩᤨ, ࠞࡔ࡜ߩ㜞ߐߪੱ㑆ߩ⌒ߩ૏⟎ߦ⸳ቯߒߚ (࿑ 16). ↢ᚑߐࠇߚᤋ௝ߩࠬࡍ࠶

ࠍోߡߩᣇะߩశ✢ᖱႎࠍขᓧߔࠆߎߣࠍ㆐ᚑߢ߈ߡ

ࠪࠬ࠹ࡓࠍታⵝߒ, TWISTER ߦ೑↪ߒߚ⚿ᨐ, ↢࠹ࡓߩ⸳⸘ᣇ㊎ࠍోߡḩߚߒߡ޿ࠆߎߣ߇ಽ߆ߞߚ.

޿ࠆ. ߎߩߎߣߦࠃࠅ, ೑↪⠪ߪ߹ࠆߢ, ߘߩ႐ᚲߦᴚ
౉ߒߡ޿ࠆࠃ߁ߥᗵⷡࠍᓧࠆߎߣ߇น⢻ߣߥߞߚ. ᧄ⎇ⓥߢߪ DVI ᑧ㐳ᯏߦࠃߞߡ DVI ାภࠍᑧ㐳น⢻ߥࠢߪ⴫ 1 ߩࠃ߁ߦߥߞߚ. ࡈ࡟࡯ࡓ࡟࡯࠻ߥߤߩࡄ

▸࿐ߢࠪࠬ࠹ࡓࠍታⵝߒߚ߇, ᠟௝ⵝ⟎ߣឭ␜ⵝ⟎ࠍ࡜ࡔ࡯࠲ߪ⸳⸘᧦ઙㅢࠅߩᢙ୯߇ታ⃻ߐࠇߡ޿ࠆ. ߹

DVI ߩᑧ㐳㒢⇇ࠍ⿥߃ߚ㆙〒㔌ߢߩធ⛯߇ᔅⷐߥ႐ว
ߢߪ DVI ାภࠍశࡈࠔࠗࡃ߹ߚߪ LAN ⚻↱ߢㅢାߔߚ, ᠟௝ࠪࠬ࠹ࡓ߇ో๟࿐┙૕ᤋ௝ࠍ↢ᚑߔࠆㆃᑧߪ
0.03[sec] ⒟ᐲߢ޽ࠅ, ᠟௝ࠪࠬ࠹ࡓන૕ߢߪ㕖Ᏹߦዋߥ޿ㆃᑧߢᯏ⢻ߒߡ޿ࠆ. ᠟௝߆ࠄឭ␜߹ߢߪᦨᄢ

ࠆᔅⷐ߇޽ࠆ. ޽ࠄ߆ߓ߼᳿߼ࠄࠇߚ⠪ห჻ㅢାߩ႐
วߦߪశࡈࠔࠗࡃߢ⋥ធߟߥߋᣇᴺ߇޽ࠅ, DVI ାภ

0.14[sec] ߆߆ࠆ߇, ߎࠇߪࡆ࠺ࠝࠞ࡯࠼ߩ಴ജ߆ࠄ↹௝⴫␜ㇱߦ߅޿ߡ↢ߓߡ޿ࠆㆃᑧߩᓇ㗀ࠍฃߌࠆߚ߼

ㅊടߩㆃᑧߪ⊒↢ߒߥ޿. ৻ᣇ, ਇ․ቯᄙᢙߩ⋧ᚻߣ

ߢ޽ࠆ. ᦨᓟߦ, 360[degree] ߩᤋ௝ࠍ↢ᚑน⢻ߢ޽ࠆㅢାߔࠆ႐วߦߪ㧘ࠗࡦ࠲࡯ࡀ࠶࠻ࠍ⚻↱ߔࠆᣇᴺ߇

߆ᬌ⸽ߔࠆߚ߼ߦ, 180[degree] Ფߦ⇣ߥࠆᤨ㑆ߢ᠟௝⠨߃ࠄࠇࠆ㧚ߎߩᣇᴺߦ߅޿ߡ⊒↢ߔࠆㆃᑧߪࡀ࠶࠻

ࠍశࡈࠔࠗࡃߦᄌ឵ߒߡౣ߮ DVI ߦᄌ឵ߔࠆߎߣߢ

ߒߚਔ⌒ᤋ௝ࠍ⛔วߒ, 360[degree] ߩᤋ௝ࠍ↢ᚑߒߚ.

ࡢ࡯ࠢߩ․ᕈ߿↹௝࿶❗ᣇᴺߦࠃߞߡᄢ߈ߊᄌൻߔࠆ

ᧄࠪࠬ࠹ࡓߢߪ, TWISTER ߩ⸃௝ᐲߦ⋧ᒰߔࠆ 3168

߇㧘ㄭᐕߢߪ㜞⸃௝ᐲᤋ௝ߩㅢାᛛⴚ߇⊒ዷߒߟߟ޽

 600[pixel] ߩᤋ௝߇↢ᚑߐࠇߚ (࿑ 17).

ࠅ㧘੹ᓟ⸃᳿น⢻ߥ⺖㗴ߢ޽ࠆߣ⠨߃ࠄࠇࠆ㧚↢ᚑᤋ௝ࠍታ㓙ߦ TWISTER ߳ឭ␜ߒ (࿑ 18), 14

ࠕࡦࠤ࡯࠻ࠍⴕߞߚ㓙ߩ⥝๧ᷓ޿࿁╵ߣߒߡ,ੱߩ 20㨪30 ઍ↵ᕈߩ೑↪⠪ߦኻߒߡญ㗡ߦࠃࠆ⥄↱‫ޟ‬TWISTER ߢߔߋ⋡ߩ೨ߦੱ߇޿ࠆߦ߽㑐ࠊࠄߕ,ᒻᑼߩࠕࡦࠤ࡯࠻ࠍⴕߞߚ. ⾰໧ߩౝኈߣߒߡߪ‫┙ޟ‬ࠗࡦ࠲࡜࡚ࠢࠪࡦࠍⴕ߃ߥ޿ߚ߼ߦ㕖Ᏹߥ⇹ᄖᗵࠍ૕ⷞ߿↹௝ߩ⾰‫ޟޠ‬ᡷༀߔߴ߈ὐ‫ߩߡ޿ߟߦޠ‬ᗵᗐࠍᗵߓߚ‫ޠ‬, ‫߇ੱޟ‬േ޿ߚᤨߦᦠഀലᨐ߇シᷫߐࠇߡ޿

日本バーチャルリアリティ学会論文誌 Vol.13, No.3, 2008‫ޓޓޓ‬

ǰ= 0[degree]

ǰ= 360[degree]

Ꮐ⌒

ฝ⌒

‫ޓޓޓ‬
࿑ 17 ⹜૞ࠪࠬ࠹ࡓߦࠃࠆ᠟௝⚿ᨐ.
Fig. 17 Processed 360 qstereoscopic video imageࠆ‫ߚߞ޿ߣޠ‬࿁╵ࠍᓧߚ. ‫ޟ‬TWISTER ߢߔߋ⋡ߩ⴮ߒ㧘⼱ߩࠃ߁ߦᤋ௝߇ๆ޿ㄟ߹ࠇࠆࠃ߁ߦ⷗߃ࠆ,೨ߦੱ߇޿ࠆߦ߽㑐ࠊࠄߕ, ࠗࡦ࠲࡜࡚ࠢࠪࡦࠍⴕ߃

ߣ޿߁ᗵᗐࠍᓧߡ޿ࠆ. ᧄᚻᴺߦ߅޿ߡߪࠞࡔ࡜ߩบ

ߥ޿ߚ߼ߦ㕖Ᏹߥ⇹ᄖᗵࠍᗵߓߚ‫ߪߡ޿ߟߦޠ‬, ੹࿁
TWISTER ߆ࠄᄖㇱⅣႺ߳ߩࠗࡦ࠲࡜࡚ࠢࠪࡦࠍⴕ
߁ࠪࠬ࠹ࡓࠍታⵝߒߡ޿ߥ߆ߞߚߚ߼ߦᓧߚ࿁╵ߢ޽ࠅ, ೑↪⠪ߪࡃ࡯࠴ࡖ࡞ߦߘߩ႐ߦ޿ࠆߦ߽㑐ࠊࠄߕ,ᢙ߇Ⴧ߃ࠆߣᤋ௝ߩႺ⇇߽Ⴧ߃ࠆߚ߼㧘ࠞࡔ࡜ࠍჇ߿
ߔߎߣߪ┙૕ᗵ߇ᷫ⴮ߔࠆ㗔ၞࠍჇ߿ߔߎߣߦ❬߇ࠆ㧚৻ᣇࠞࡔ࡜ᢙࠍዋߥߊߔࠆߣࠞࡔ࡜↹ⷺߩ๟ㄝㇱߢߩᤋ௝ߩᐞ૗ቇ⊛ߥᱡߺ߇ᄢ߈ߊߥࠅ㧘ᤋ௝Ⴚ⇇ߢߩ⺋⋧ᚻߣߩࠗࡦ࠲࡜࡚ࠢࠪࡦࠍⴕ߃ߥ޿߽ߤ߆ߒߐࠍᗵ

Ꮕ߇ᄢ߈ߊߥࠆ. ߟ߹ࠅ, ┙૕ᗵ߇ᷫ⴮ߔࠆ㗔ၞߩᢙߓߡ޿ࠆߣ⠨߃ࠄࠇࠆ. ㅒ⺑⊛ߦ⸒߃߫, ೑↪⠪ߪታߣฦᤋ௝Ⴚ⇇ߦ߅ߌࠆᐞ૗ቇ⺋Ꮕߩ࠻࡟࡯࠼ࠝࡈ߇⿠

㓙ߦߘߩ႐ߩ⁁ᴫౝߦᴚ౉ߒߡ޿ࠆᗵⷡࠍᓧߡ޿ࠆߎ

ߎࠆߚ߼㧘੹ᓟߪᐞ૗ቇ⺋Ꮕߩ⸵ኈ㊂ࠍᬌ⸛ߔࠆߣߣ

ߣࠍᗧ๧ߒߡ߅ࠅ, ᧄࠪࠬ࠹ࡓߦࠃߞߡⷞⷡ⊛ߦ࠹࡟߽ߦ, ߎߩ࠻࡟࡯࠼ࠝࡈࠍ⠨ᘦߒߡᦨㆡߥࠞࡔ࡜บᢙ

ࠗࠣࠫࠬ࠲ࡦࠬ߇ታ⃻ߐࠇߡ޿ࠆ᭽ሶ߇ુ߃ߚ. หᤨࠍ⸳⸘ߔࠆߎߣࠍ⋡ᮡߣߔࠆ.

ߦ TWISTER ߆ࠄࠗࡦ࠲࡜࡚ࠢࠪࡦࠍⴕ߃ࠆࠪࠬ࠹
ࡓࠍታ⃻ߔࠆᔅⷐᕈ߇޽ࠆߎߣ߇⏕⹺ߢ߈ߚ.

ᧄ⎇ⓥߢߪ㧘ⓨ㑆ౝߢߩઁ⠪ߣߩࠦࡒࡘ࠾ࠤ࡯࡚ࠪ
ࡦߣ㧘㆙㓒࿾ߩ㘑᥊ߩ᠟ᓇߣ޿߁ਥߦ 2 ߟߩᔕ↪ߦ㊀ᦠഀലᨐߣߪᤋ௝ਛߩ‛૕߇⥰บߦਗߴࠄࠇߚ⢛᥊ὐࠍ⟎޿ߚ߇㧘ࠦࡒࡘ࠾ࠤ࡯࡚ࠪࡦߦ㑐ߒߡߪ㧘ઁ⠪ߣߩࠃ߁ߥᦠഀߦ⷗߃ࠆ⃻⽎ߢ޽ࠅ, 㕒ᱛ↹ߢ┙૕ⷞࠍߩળ⹤ߦ߅޿ߡ⴫ᖱ߿⚦߆޿ࠫࠚࠬ࠴ࡖ࡯ߩขᓧ߇ᔅ

ⴕ߁ߣ߈ߦ↢ߓࠆߎߣ߇⍮ࠄࠇߡ޿ࠆ. ߘߩේ࿃ߪ

ⷐߥߩߪ 1∼3[m] ⒟ᐲߩ▸࿐ߢ޽ࠆߣ⠨߃ࠄࠇࠆ. ߥ᭽‫ⷐߥޘ‬࿃߇⠨߃ࠄࠇࠆ߇, ৻ߟߦߪㆇേⷞᏅߩᰳᅤ

ߗߥࠄ, 3[m] એ਄ߩ〒㔌ߢߩࠦࡒࡘ࠾ࠤ࡯࡚ࠪࡦߢߪ

ߦࠃߞߡ↢ߓࠆߣ⸒ࠊࠇߡ޿ࠆ [18]. ߒߚ߇ߞߡ, േ⚦߆޿઀⨲ࠍⷞⷡ⊛ߦ᝝ࠄ߃ㄆ޿ߎߣ߿, ᥉Ბߩળ⹤

↹ߢߪ⋧ኻ⊛ߥㆇേⷞᏅ߇↢ߓ, ᦠഀലᨐ߇シᷫߐࠇߢߪ 1㨪3[m] ߩ〒㔌ߢߩࠦࡒࡘ࠾ࠤ࡯࡚ࠪࡦ߇ਥ૕ߣ

ࠆߎߣ߇ᦼᓙߐࠇࠆ߇, ‫߇ੱޟ‬േ޿ߚᤨߦߢߪᦠഀല

ߥࠆ߆ࠄߢ޽ࠆ. ᧄࠪࠬ࠹ࡓߢߪࠞࡔ࡜ਛᔃ߆ࠄ 2[m]ᨐ߇シᷫߐࠇࠆ‫ߡߞࠃߦ࠻ࡦࡔࠦ߁޿ߣޠ‬, ߹ߐߦᦼߩㄭறߦ߅޿ߡᤋ௝ߩ⺋Ꮕ߇ᦨዊߣߥࠆࠃ߁ߦࡉ࡟ࡦ

ᓙߒߡ޿ߚേ↹᠟௝ߦࠃࠆㆇേⷞᏅߩౣ⃻߇⏕⹺ߐࠇ࠺ࠖࡦࠣ᏷ࠍ⸳ቯߒ㧘1∼3[m] ߦ߅޿ߡߪචಽߥ↹⾰ߚߣ⸒߃ࠆ.

ߢ⋧ᚻߩ⴫ᖱࠍવ㆐ߢ߈ࠆߎߣ߇⏕⹺ߐࠇߚ㧚ߎࠇߪᧄࠪࠬ࠹ࡓߩᦨ߽ᄢ߈ߥ⺖㗴ߣߒߡ᜼ߍࠄࠇࠆߩߪ,૕㛎⠪߇⇹ᄖᗵࠍᗵߓߚߣ╵߃ߚߎߣ߆ࠄ, ૕㛎⠪߇ฦࠞࡔ࡜ห჻ߩᤋ௝ធ⛯ߦኻߔࠆಣℂߢ޽ࠆ. ࿑ 17ᤋ௝ਛߩੱ‛ߩ㔓࿐᳇߿ᗵᖱߥߤࠍ⺒ߺขࠇߡ޿ࠆߎ

ߦ߅ߌࠆ ⌒ᤋ௝ߩߺࠍ⌑߼ࠆߣᤋ௝ធ⛯ὐߪ⥄ὼߦߣ߆ࠄ߽ಽ߆ࠆ. 1[m] ࠃࠅㄭ޿▸࿐ߦ߅޿ߡߪᖱႎߩ

⛔วߐࠇߡ޿ࠆ߆ߩࠃ߁ߦ⷗߃ࠆ. ߒ߆ߒ, ┙૕ⷞࠍᰳ⪭߇↢ߓታ↪⊛ߥ↹⾰ࠍ଻ߟߎߣ߇ߢ߈ߥ޿߇㧘ᧄⴕߞߚ㓙ߦߪߎࠇࠄߩᤋ௝ߩႺ⇇ߦ߅޿ߡ┙૕ᗵ߇ᷫࠪࠬ࠹ࡓߩ↪ㅜߦ߅޿ߡߪߘࠇ߶ߤㄭߠߊߎߣߪ⒘ߢ

加藤・城・南澤・新居・川上・舘 : 放射状カメラによる実時間全周囲立体映像撮像システム

޽ࠆߣ⠨߃ࠄࠇࠆ㧘߹ߚ 3[m] એ਄ߩ㆙〒㔌ߦ߅޿ߡߪ㧘ᖱႎߩ㊀ⶄ߇↢ߓࡉ࡟ࡦ࠺ࠖࡦࠣߦࠃࠅߘࠇࠍ✭๺ߔࠆߚ߼㧘ᤋ௝ߩࡉ࡟߿ᧄ᧪޽ࠆߴ߈ឭ␜૏⟎߆ࠄߩ⺋Ꮕ߇⊒↢ߒ㧘ߎࠇ߇┙૕ᗵߩᷫ⴮ࠍ↢ࠎߢߒ߹ߞ
ߡ޿ࠆ㧚ߒ߆ߒߥ߇ࠄ㆙ߊߩ㘑᥊ࠍ⌑߼ࠆߣ޿ߞߚ↪
ㅜߦ߅޿ߡߪ⃻⁁ߢ߽ታ↪਄ߘࠇ߶ߤ໧㗴ߪ↢ߓߕ㧘੹ᓟᤋ௝วᚑᚻᴺߩᡷༀࠍⴕ޿┙૕ᗵߩะ਄ࠍ࿑ࠆߎ
ߣߢ㧘ࠃࠅᐢ޿▸࿐ߦ߅޿ߡ⥃႐ᗵߩ㜞޿ⅣႺࠍታ⃻ߢ߈ࠆߣ⠨߃ࠄࠇࠆ㧚଀߃߫ Shum ࠄ [19] ߦ߅޿ߡᧄ
⎇ⓥߦㆡ↪น⢻ߥࡑ࠶࠴ࡦࠣᣇᴺ߇ឭ᩺ߐࠇ߅ࠅ, ߎࠇࠄߩᣇᴺࠍᧄࠪࠬ࠹ࡓߦㆡ↪ߔࠆߎߣ߇᦭ലߢ޽ࠆ
ߣ⠨߃ࠄࠇࠆ㧚

6まとめᧄ⺰ᢥߢߪ, ࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬߩ᧦ઙࠍోߡḩߚߔߎߣ߇ߢ߈ࠆ᠟௝ࠪࠬ࠹ࡓࠍឭ᩺, ⸳⸘ߒ, 360[degree]ߩਔ⌒┙૕ᤋ௝ࠍ 30[fps], ㆃᑧ 0.1[sec] ⒟ᐲߢ᠟௝น
⢻ߥࠞࡔ࡜ࠪࠬ࠹ࡓࠍታ⃻ߒߚ. ߐࠄߦ, ᧄࠪࠬ࠹ࡓ
ߢ↢ᚑߐࠇߚᤋ௝ࠍ TWISTER ߦឭ␜ߒߚߣߎࠈ, ⷞⷡ⊛ߥ࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬ߇น⢻ߥߎߣ߇␜ߐࠇߚ.
ᧄࠪࠬ࠹ࡓߪ੹ᓟ, ㆙㓒ᠲ૞ߦࠃߞߡᄖㇱߣߩࠗࡦ࠲
࡜࡚ࠢࠪࡦࠍน⢻ߣߔࠆⵝ⟎ߣߩ⛔วߦࠃࠅ, ࠦࡒࡘ࠾ࠤ࡯࡚ࠪࡦࠪࠬ࠹ࡓ߳ߩ⊒ዷ߇น⢻ߢ޽ࠆߣ⠨߃ࠄ
ࠇࠆ.

参考文献
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දળ, ᧲੩, 1992
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K.Yamazawa,
H.Iwasa,
H.Takemura, N.Yokoya, “Generation of highresolution stereo panoramic images by omnidirectional imaging sensor using hexagonal pyramidal
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[7] H.Tanahashi,K.Yamamoto,C.Wang,Y.Niwa, “Development of a Stereo Omni-directional Imaging
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[9] S.K. Nayar, A.D. Karmarkar, “360×360 mosaics: regular and stereoscopic,” Panoramic vision: sensors, theory, and applications, pp.291307, Springer-Verlag New York, Inc.2001[10] S. Peleg, M. Ben-Ezra, and Y. Pritch, ”OmniStereo: Panoramic Stereo Imaging,” IEEE Trans.
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[12] ⍹Ꮉ, ጊỈ, ᮮ⍫, ”ⶄᢙߩోᣇ૏േ↹௝ࠍ↪޿ߚ⥄↱ⷞὐ࠹࡟ࡊ࡟࠯ࡦࠬ”, ᤋ௝ᖱႎࡔ࠺ࠖࠕቇળ⹹, Vol.
60, No. 10, pp. 1599-1610, 2006.
[13] 㐳↰᣽ᰴ㇢, “ⷞⷡߩᅏⴕ߈〒㔌ᖱႎߣߘߩᅏⴕ߈ᗵᐲ ̍, ࠹࡟ࡆ࡚ࠫࡦቇળ⹹, Vol.31, No.8, pp.649-655,
1977[14] ᤋ௝ᖱႎࡔ࠺ࠖࠕቇળ✬, “㔚ሶᖱႎ࠺ࠖࠬࡊ࡟ࠗࡂ
ࡦ࠼ࡉ࠶ࠢ”, ၭ㘑㙚, ᧲੩, 2001[15] J.M.Stroud, ”The ﬁne structure of psychological time,” Information theory in psychology, New
York, 1956
[16] E.H.Adelson and J.R.Bergen,̌ The Plenoptic
Function and the Elements of Early Vision , ̍
in Computational Models of Visual Processing(Landy and Movshon, Eds.), MIT Press, pp.3-20,
1991[17] Z. Zhang, “A ﬂexible new technique for camera
calibration,” IEEE Transactions on Pattern Analysis and Machine Intelligence 22 , pp. 1330-1334,
2000[18] ේፉඳ, రᧁ♿㓶, ⍫㊁Ẵᄦ, “㧟ᰴర↹௝ߣੱ㑆ߩ⑼ቇ ̍, ࠝ࡯ࡓ␠, 2000
[19] H.Y. Shum, R. Szeliski, “Construction ofPanoramic Image Mosaics with Global and Local Alignment,” Panoramic vision: sensors, theory,
and applications, pp.227-268, Springer-Verlag New
York, Inc.2001(2008 年 3 月 19 日受付)㨇⪺ ⠪ ⚫ ੺㨉
加藤 伸明
2006 ᐕᄢ㒋ᄢቇၮ␆Ꮏቇㇱࠪࠬ࠹ࡓ
ቇ⑼තᬺ㧚2008 ᐕ᧲੩ᄢቇᄢቇ㒮ᖱႎℂ
Ꮏቇ♽⎇ⓥ⑼ࠪࠬ࠹ࡓᖱႎቇኾ᡹ୃ჻⺖⒟තᬺ㧚⃻࿷ߦ⥋ࠆ.

城 堅誠 㧔ቇ↢ળຬ㧕
2007 ᐕ᧲੩ᄢቇᎿቇㇱ⸘ᢙᎿቇ⑼ත
ᬺ㧚⃻࿷㧘หᄢቇᄢቇ㒮ᖱႎℂᎿቇ♽⎇ⓥ⑼ࠪࠬ࠹ࡓᖱႎቇኾ᡹ୃ჻⺖⒟࿷ቇਛ㧚ࡃ࡯࠴ࡖ࡞࡝ࠕ࡝࠹ࠖ㧘᜛ᒛ⃻ታᗵߩ⎇ⓥߦᓥ੐.

日本バーチャルリアリティ学会論文誌 Vol.13, No.3, 2008

南澤 孝太 㧔ቇ↢ળຬ㧕
2005 ᐕ᧲੩ᄢቇᎿቇㇱ⸘ᢙᎿቇ⑼ත
ᬺ㧚2007 ᐕหᄢቇᄢቇ㒮ᖱႎℂᎿቇ♽⎇ⓥ⑼ࠪࠬ࠹ࡓᖱႎቇኾ᡹ୃ჻⺖⒟ୃੌ㧚หᐕหኾ᡹ඳ჻⺖⒟ㅴቇ㧘ᣣᧄቇⴚᝄ⥝ળ․೎⎇ⓥຬ (DC1)㧚ࡂࡊ࠹ࠖ࠶ࠢࠗࡦ
࠲ࡈࠚ࡯ࠬ㧘࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬࠪࠬ࠹
ࡓߩ⎇ⓥߦᓥ੐㧚2007 ᐕᣣᧄࡃ࡯࠴ࡖ࡞
࡝ࠕ࡝࠹ࠖቇળቇⴚᅑബ⾨ฃ⾨.

新居 英明 㧔ᱜળຬ㧕
1995 ᐕ᧲੩Ꮏᬺᄢቇᄢቇ㒮ℂᎿቇ⎇ⓥ⑼ඳ჻೨ᦼ⺖⒟೙ᓮᎿቇኾ᡹ୃੌ㧚หᐕᩣᑼળ␠࠻ࠠࡔ࠶ࠢ౉␠㧚2003 ᐕ 4 ᦬ห␠ㅌ␠㧚2003 ᐕ߆ࠄ 2006 ᐕ߹ߢ㔚᳇ㅢାᄢቇᄢቇ㒮㔚᳇ㅢାቇ⎇ⓥ⑼ඳ჻ᓟ
ᦼ⺖⒟ᯏ᪾೙ᓮᎿቇኾ᡹࿷☋㧚⃻࿷㧘᧲੩ᄢቇᄢቇ㒮ᖱႎℂᎿቇ♽⎇ⓥ⑼ࠪࠬ࠹
ࡓᖱႎቇኾ᡹ഥᢎ㧚ᖱႎᛩᓇᛛⴚࠍ೑↪
ߒߚࡅࡘ࡯ࡑࡦࠗࡦ࠲ࡈࠚ࡯ࠬߩ⎇ⓥߦ
ᓥ੐.

川上 直樹 㧔ᱜળຬ㧕
ᐔ 8 ᧲Ꮏᄢ࡮ℂᎿ࡮㔚᳇㔚ሶୃ჻⺖⒟ୃੌ㧚ᐔ 11 ᧲ᄢ࡮Ꮏ࡮వ┵ቇ㓙Ꮏඳ჻⺖⒟ୃੌ㧚Ꮏቇඳ჻㧚หᐕ᧲ᄢ㒮࡮Ꮏ࡮⸘ᢙᎿഥᚻ㧘ᐔ 14 ᧲ᄢ㒮࡮ᖱႎℂᎿ࡮ࠪࠬ࠹ࡓᖱႎቇኾ᡹⻠Ꮷ㧚ࡃ࡯࠴ࡖ࡞࡝ࠕ࡝
࠹ࠖߩ⎇ⓥߦᓥ੐.

舘㧔ᱜળຬ㧕ᤘ 43 ᧲ᄢ࡮Ꮏ࡮⸘ᢙත㧚ᤘ 48 หᄢᄢቇ㒮ඳ჻⺖⒟ୃੌ㧚Ꮏቇඳ჻㧚หᐕหᄢഥᚻ㧚ᤘ 50 ㅢ↥⋭Ꮏᛛ㒮ᯏ᪾ᛛ⎇⎇ⓥຬ㧘ࡑࠨ࠴ࡘ࡯࠮࠶࠷Ꮏ⑼ᄢቇቴຬ⎇ⓥຬࠍ⚻ߡ㧘ᐔ 1 ᧲ᄢవ┵⑼ቇᛛⴚ࠮ࡦ
࠲࡯ഥᢎ᝼㧘ᐔ 4 ห࠮ࡦ࠲࡯ᢎ᝼㧘ᐔ 6หᄢ࡮Ꮏ࡮⸘ᢙᎿᢎ᝼㧘ᐔ 13 หᄢᄢቇ㒮࡮ᖱႎℂᎿ࡮ࠪࠬ࠹ࡓᖱႎቇኾ᡹ᢎ᝼㧚࠹࡟ࠗࠣࠫࠬ࠲ࡦࠬ㧘ੱᎿ⃻ታᗵߩ⎇ⓥ
ߦᓥ੐㧚 IEEE/EMBS ቇળ⾨㧘ㅢ↥ᄢ⤿⴫ᓆ㧘࿖㓙⸘᷹ㅪว (IMEKO) ․೎ഞ
ഭ⾨㧘IEEE-VR Career Award ߥߤฃ⾨㧚IMEKO ࡠࡏ࠹ࠖࠢࠬળ⼏⼏㐳㧘⸘᷹⥄േ೙ᓮቇળળ㐳㧘ᣣᧄࡃ࡯࠴ࡖ࡞࡝
ࠕ࡝࠹ࠖቇળೋઍળ㐳.