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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
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⮮ િ*1 ၔ ၷ⺈*1 ධỈ ቁᄥ*1 ᣂዬ ⧷*1 Ꮉ ⋥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 of eight 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 visual telexistence: 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 was put into practice. Keywords : panoramic stereo vision, radial camera, immersive vision, telexistence 1 はじめに 69+56'4 ో࿐┙ࠞࡔ ࠹ࠗࠣࠫࠬ࠲ࡦࠬ [1] ߣߪ, ↪⠪ߦኻߒߡ ࠆ႐ᚲ߆ࠄ㆙ߊ㔌ࠇߚ႐ᚲߦߚ߆߽ሽߒߡࠆࠃ ࠺࠲ォㅍ ߁ߥᗵⷡࠍਈ߃ࠆᛛⴚࠍᜰߔ. ․ߦᧄ⎇ⓥߢߪ, ⷞⷡ ࠺ࠖࠬࡊࠗࠍ↪ߡ, ታ⇇ߦ߅ߌࠆ㆙㓒ߦࠆ ᗵⷡࠍឭ␜ߔࠆᛛⴚࠍⷞⷡ⊛࠹ࠗࠣࠫࠬ࠲ࡦࠬߣቯ ⟵ߔࠆ. ㄭᐕߢߪ CAVE[2], TWISTER[3][4] ߥߤߩ ᴚဳ࠺ࠖࠬࡊࠗߣ߫ࠇࠆⵝ⟎߇㐿⊒ߐࠇߡ߅ࠅ, ⷞⷡ⊛࠹ࠗࠣࠫࠬ࠲ࡦࠬ߳ߩᔕ↪߇ᦼᓙߐࠇߡࠆ. ߒ߆ߒߥ߇ࠄ, ⁁ߢߪᴚဳ࠺ࠖࠬࡊࠗߦឭ␜ߐ ⸘▚ᯏ ↪⠪ ⸘▚ᯏ ឭ␜ࠪࠬ࠹ࡓ ࠪࠬ࠹ࡓ ࿑1 ో࿐┙ታ౮ᤋߦࠃࠆⷞⷡ⊛࠹ ࠗࠣࠫࠬ࠲ࡦࠬࠪࠬ࠹ࡓ. Fig. 1 Conceptual drawing of the visual telexistence system ࠇࠆᤋࠦࡦ࠹ࡦ࠷ߪ CG ᤋ߇ਥߢࠅ, ↪⠪߇ ᴚߢ߈ࠆⅣႺߩᄢᄙᢙߪ CG ⇇߆ࠄ᭴ᚑߐࠇߡ 69+56'4 ࠆ. ߎߩℂ↱ߪ, ⷞⷡ⊛࠹ࠗࠣࠫࠬ࠲ࡦࠬࠍታน⢻ ㆬᛯ ߥᤋࠍขᓧߢ߈ࠆⵝ⟎߇߶ߣࠎߤሽߒߥߎ ߣߦ࿃ߒߡࠆ. ⷞⷡ⊛࠹ࠗࠣࠫࠬ࠲ࡦࠬ߇น⢻ ߥᤋࠍขᓧߢ߈ࠆࠪࠬ࠹ࡓ߇ታߔࠆߣ, ࠹ࡆ 69+56'4 ⸘▚ᯏ ᤋࠦࡦ࠹ࡦ࠷↢ᚑ ㆬᛯ ㅍߦ߅ߌࠆ↢ਛ⛮ߩࠃ߁ߦ, ᴚဳ࠺ࠖࠬࡊࠗࠍ↪ ᤋࠦࡦ࠹ࡦ࠷ขᓧ ߡߘߩ႐ᚲߦࠆ߆ߩࠃ߁ߦ㆙㓒ߩᤋࠍ㐓 ⾨ߢ߈ࠆࠃ߁ߦߥࠆ (࿑ 1). ߐࠄߦᣇะߩㅢାࠍน ࠕࠞࠗࡉ ᤋࠦࡦ࠹ࡦ࠷ขᓧ ↪⠪ ⸘▚ᯏ ↪⠪ ⸘▚ᯏ ឭ␜ࠪࠬ࠹ࡓ *&& ో࿐┙ᤋ ↢ᚑࠪࠬ࠹ࡓ ో࿐┙ࠞࡔ ⢻ߣߔࠆࠃ߁ߦᒛߔࠆߎߣߦࠃࠅ, ߩੱߘߣޘ ߩ႐ᚲߦࠆ߆ߩࠃ߁ߦࠗࡦ࠲ࠢ࠹ࠖࡉߥࠦࡒࡘ࠾ ࠤ࡚ࠪࡦࠍⴕ߁ߎߣ߽น⢻ߣߥࠆ. ߹ߚ, ㆙㓒ߩ㘑 ࿑ 2 ᤋࠦࡦ࠹ࡦ࠷ߦࠃࠆࠕࠞࠗࡉࠪࠬ࠹ࡓ. Fig. 2 Conceptual drawing of the video archive system ᥊ࠍ⸥㍳ߒߡᤋࠦࡦ࠹ࡦ࠷ࠍ↢ᚑߒ, ሽߔࠆߎߣ ߦࠃࠅ, ↪⠪ߪ⥄ಽߩᅢ߈ߥᤨߦᅢ߈ߥࠦࡦ࠹ࡦ࠷ ࠍㆬ߮, ᴚဳ࠺ࠖࠬࡊࠗࠍ↪ߡᅢ߈ߥ႐ᚲ߳ᴚ ⌕⋡ߒߚ. TWISTER ߪ↪⠪ߩ㗡ㇱࠍㅊᓥߔࠆߎߣ ߢ߈ࠆࠃ߁ߦߥࠆ (࿑ 2). ߎߩࠃ߁ߥ⋡⊛ߦහߒߚ ߥߊ 360[degree] ߩ㘑᥊ࠍឭ␜ߔࠆߎߣ߇น⢻ߢ㧘㗡 ᴚဳ࠺ࠖࠬࡊࠗߣߒߡᧄ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 ߎߣ߽ኈᤃߢࠆ. ᧄ⺰ᢥߢߪ TWISTER ߦઍߐࠇࠆⓨ㑆ᴚဳ࠺ࠖ 日本バーチャルリアリティ学会論文誌 Vol.13, No.3, 2008 ࠬࡊࠗࠍ↪ߚⷞⷡ⊛࠹ࠗࠣࠫࠬ࠲ࡦࠬࠪࠬ࠹ࡓ ࠍታߔࠆߚ㧘ⷞⷡ⊛࠹ࠗࠣࠫࠬ࠲ࡦࠬߦᔅⷐߥ ታ⇇ߩⷞⷡᖱႎࠍขᓧߔࠆࠪࠬ࠹ࡓࠍឭ᩺ ߔࠆ㧚 ⷞⷡ⊛࠹ࠗࠣࠫࠬ࠲ࡦࠬࠍታߔࠆߚߦߪ, ࠪ ࠬ࠹ࡓߪࡃ࠴ࡖ࡞ࠕ࠹ࠖߩ 3 ᧦ઙ [5] ߦട߃ߡ, ታⓨ㑆ᤋߩౣᕈߣ߁᧦ઙࠍḩߚߐߥߌࠇ߫ߥࠄ ߥ. ࡃ࠴ࡖ࡞ࠕ࠹ࠖߩ 3 ᧦ઙߣߪ, ਃᰴరᕈ, ⥄Ꮖᛩᕈ, ታᤨ㑆ᕈࠍᜰߒ, ࡃ࠴ࡖ࡞ࠕ࠹ࠖ ߦ៤ࠊࠆࠪࠬ࠹ࡓ߇ḩߚߔߴ߈ᔅⷐਇนᰳߥⷐ⚛ߢ ࠆ. ߐࠄߦ, ⷞⷡ⊛࠹ࠗࠣࠫࠬ࠲ࡦࠬࠍḩߚߔߚ ߦߪࡃ࠴ࡖ࡞ࠕ࠹ࠖߩࠪࠬ࠹ࡓߦࠃߞߡ↢ᚑߐ ࠇࠆᤋ߇, ↪⠪߇᥉Ბታ⇇ߢߡࠆࠃ߁ߥ ᤋࠍౣߒߡࠆᔅⷐ߇ࠆߚ, ᧄ⺰ᢥߢߪታⓨ 㑆ᤋߩౣᕈߣ߁᧦ઙࠍട߃ߚ. ታⓨ㑆ᤋߣߪ, ⷞⷡ⊛࠹ࠗࠣࠫࠬ࠲ࡦࠬࠍⴕ߁ߚߩశ✢ᖱႎࠍᜰ ߒ, ᴚဳ࠺ࠖࠬࡊࠗߩ↪⠪ߦኻߒߡౣߔࠆᔅ ⷐ߇ࠆᖱႎߢࠆ. ⸒឵߃ࠆߣ, ੱ㑆߇࿐ࠍ ࿁ߒߚᤨߩਔ⌒ߦߔࠆోߡߩᖱႎߢࠆ. ߎߩⷰὐ߆ࠄ, ᓥ᧪ߩࠪࠬ࠹ࡓߪએ 4 ߟߩ᧦ ઙࠍోߡߪḩߚߒߡߥ߆ߞߚߚ, ⷞⷡ⊛࠹ࠗࠣ ࠫࠬ࠲ࡦࠬࠍታߢ߈ࠆᤋࠍߢ߈ߥ߆ߞߚ. ߃߫, Ꮉࠄ [6] ߩⵝ⟎߿ ViewPlus ␠ߩ Astro Sen- sor Series[7] ߪⓨ㑆ߩ 1 ὐߦ 1 ߟߩ⌒ࠍ߅ߚᤨߩ 360[degree] ߩశ✢ᖱႎࠍขᓧߒߡࠆ. ߒ߆ߒߥ߇ࠄ, ↪⠪ߦߣߞߡᔅⷐߥᖱႎߪ࿐ࠍ࿁ߒߚᤨߩਔ⌒ ߩ⟎ 2 ὐߩశ✢ᖱႎߢࠅ, Ꮉࠄߩⵝ⟎߿ Astro Sensor Series ߢขᓧߒߚశ✢ᖱႎߦߪ, ߎߩ࿁ߒേ ߣਔ⌒⟎ߦኻᔕߒߚశ✢ᖱႎ߇߹ࠇߡߥ. Ꮉࠄߩⵝ⟎߿ Astro Sensor Series ߪ, ࿁ߒേߣ ੱ㑆ߩਔ⌒⟎ߦኻᔕߒߚశ✢ᖱႎࠍౣߔࠆߎߣ߽ น⢻ߢߪࠆ߇, ৻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.Peleg ࠄ [10] ߩⵝ⟎, ↰ਛࠄ [11] ߩⵝ⟎ߦ߅ߡߪ, 㗡ㇱߩ ࿁ߒߦኻߔࠆ࿁ォゲࠍ࿕ቯߒߚᤨߩ࿁ߒേߣੱ 㑆ߩਔ⌒⟎ߦኻᔕߒߚశ✢ᖱႎߩขᓧ߇น⢻ߢࠆ ߇, ↢ᚑᤋߩࡈࡓ࠻߇ૐߚߦ, ࡃ࠴ࡖ ࡞ࠕ࠹ࠖߩታᤨ㑆ᕈߩ᧦ઙࠍḩߚߒߡߥ. ⍹ Ꮉࠄ [12] ߩⵝ⟎ߢߪⶄᢙߩోᣇࠞࡔ߆ࠄᓧࠄࠇ ߚᤋࠍࠕ࡞࠲ࠗࡓߦਃᰴరวᚑߒ, ↪⠪ߩⷞὐ ⟎߿ⷞ✢ᣇะߦࠊߖߡ HMD ߦឭ␜ߐߖࠆࠪࠬ࠹ ࡓࠍ㐿⊒ߒߡࠆ߇, ᧄ⎇ⓥߢ↪ࠆ TWISTER ߪ 360[degree] ߩⷞ㊁ߩᤋࠍឭ␜น⢻ߥ⸳⟎ဳߩⵝ⟎ ߢࠅ, 㗡ㇱㆇേߦ߁ឭ␜ᤋߩᄌᦝߩᔅⷐ߇ߥ ߚ ᧄ⎇ⓥߢߪ TWISTER ߩ․㐳ߦೣࠅ, 㗡ㇱㅊᓥ ߇ਇⷐߥࠪࡦࡊ࡞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⸳⸘ߔࠆߚߦ, ⸳⸘ࡄࡔ࠲ࠍቯߔࠆ. ߹ߕ, ਃᰴరᕈߣ߁᧦ઙߦߟߡ⠨ᘦߔࠆ. ਃᰴ రᕈࠍḩߚߔߚߦߪਃᰴర⇇ߩቢోߥౣ᭴▽߇ℂ ᗐ⊛ߢࠆ߇, ⸘▚㊂߇ᄙᄢߦߥࠅ, ታᤨ㑆ᕈࠍḩߚ ߖߥ. ৻ᣇ, 㐳↰ࠄ [13] ߦࠃࠆߣ, ੱ㑆ߪ৻⥸⊛ߦ ‛ࠍⷰኤߔࠆ〒㔌 (ᢙ㨙⒟ᐲ) ߢߪਥߦユマ, ਔ⌒ⷞ Ꮕ, ㆇേⷞᏅߦࠃࠅਃᰴరⓨ㑆ߩᖱႎࠍౣ᭴ᚑߒߡ ࠆߣ⸒ࠊࠇߡࠆ. ߎߎߢ, ᧄ⎇ⓥߢ↪ࠆᴚဳ࠺ࠖ ࠬࡊࠗ TWISTER ߪታⵝ߇ኈᤃߢ⸘▚⽶⩄߽ዋߥ ユマߣਔ⌒ⷞᏅߦၮߠߡ┙ᤋࠍឭ␜ߔࠆࠃ߁ ⸳⸘ߐࠇߡࠆ. ߹ߚ㧘⁁ߩ TWISTER ߢߪㆇേ ⷞᏅߦࠃࠆਃᰴరⓨ㑆ߩౣ᭴ᚑߪ⠨ᘦߐࠇߡߥߚ , ᧄ⎇ⓥߢߪ㧘ߔࠆᤋߩਃᰴరᕈࠍḩߚߔߚ ߩ᧦ઙߣߒߡユマߣਔ⌒ⷞᏅߩߺࠍ⠨ᘦߔࠆ㧚 ᰴߦ⥄Ꮖᛩᕈߣ߁᧦ઙߦߟߡ⠨ᘦߔࠆ. ᴚ ဳ࠺ࠖࠬࡊࠗߪ↪⠪ߩᐢⷞ㊁ࠍឭ␜ᤋߢⷒ߁ ߎߣߢ, ↪⠪ߦᴚᗵࠍਈ߃ߡࠆ. ↪⠪ߩ㗡ㇱ ߩะ߈ߦㅊᓥߒߡ, ߘߩᣇะߩᐢⷞ㊁ߩᤋࠍឭ␜ ߔࠆߎߣߦࠃࠅ⥄Ꮖᛩᕈࠍḩߚߔߎߣ߇น⢻ߢࠆ ߇, ߎߩ႐วߪᤋ߳ߩࡈࠖ࠼ࡃ࠶ࠢߦࠃࠅㆃᑧ߇ ↢ߓ, ታᤨ㑆ᕈࠍḩߚߖߥ. ৻ᣇ, ࠄ߆ߓో࿐ ߩᤋࠍขᓧߒߡ߅ߊߎߣߦࠃࠅ, ↪⠪߇ߤߩᣇะ ࠍะߡ߽ታᤨ㑆ߢᤋࠍᛩᓇน⢻ߣߥࠆ. ߒߚ߇ߞ ߡ, ࠪࠬ࠹ࡓߪᏱߦ 360[degree] ߩᤋࠍᴚဳ࠺ࠖࠬ ࡊࠗ߳ߩឭ␜ᤋߣߒߡ↢ᚑߒߡ߅ߌ߫⦟. ਃ⇟⋡ߦታᤨ㑆ᕈߣ߁᧦ઙߦߟߡ⠨ᘦߔࠆ. ታ ᤨ㑆ᕈߩ᧦ઙߪࡈࡓ࠻ߩ᧦ઙߣㆃᑧߩ᧦ઙߦ ⚦ಽൻߢ߈ࠆ. ᥉Ბߡࠆታ⇇ߩࠃ߁ߥᤋࠍ↢ ᚑߔࠆߚߦߪ, ᤋਛߢṖࠄ߆ߥㆇേ⁁ᘒࠍౣߔ ࠆᔅⷐ߇ࠆ. ߘߩߚߦߪ, ੱ㑆ߩࠦࡦ࠻ࠬ࠻ᗵ ᐲ [14] ߆ࠄ, ᴚဳ࠺ࠖࠬࡊࠗߦឭ␜ߔࠆ↢ᚑᤋ ࠍ 30[fps] એߩࡈࡓ࠻ߢᦝᣂߒߥߌࠇ߫ߥ ࠄߥ. ߹ߚ, ࠪࠬ࠹ࡓࠍ⠨߃ࠆ႐ว, ߩࡈ ࡓ࠻߽ 30[fps] એ߇ᔅⷐߣߥࠆ. ߚߛߒ, ߩࡈࡓ࠻ߪᯏ᪾⊛ߥⷐ࿃ߦࠃࠆ߽ߩߢࠅ, ࠞࡔߩᕈ⢻ࠍีߔࠆߎߣߦࠃࠅ⸃ߢ߈ࠆߩߢ, ᧄ⎇ⓥߢߪਥߦ↢ᚑᤋߩࡈࡓ࠻ߦߟߡ⠨ ᘦߔࠆ. ߹ߚ, ㆙㓒ߣߩࠗࡦ࠲࡚ࠢࠪࡦࠍⴕ߁႐ ว, ৻⥸⊛ߦㆃᑧߪ 0.1[sec] ⒟ᐲߢࠇ߫⸵ኈߢ߈ࠆ ߣ⸒ࠊࠇߡ߅ࠅ [15], ᧄࠪࠬ࠹ࡓߩㆃᑧ߽ 0.1[sec] ⒟ ᐲߦᛥ߃ࠆߎߣࠍ⋡ᮡߣߔࠆ. ᦨᓟߦታⓨ㑆ᤋߩౣᕈߣ߁᧦ઙߦߟߡ⠨ᘦ ߔࠆ. ⓨ㑆ߩశ✢ᖱႎࠍᰳ⪭ߥߊขᓧߔࠆߚߦߪ, 7 ᰴరߩᖱႎขᓧ߇ℂᗐ⊛ߢࠆ [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࠺ࠖࠬࡊࠗߣ ⇣ߥࠅ, ឭ␜㕙߇ታⓨ㑆ౝߢ࿕ቯߐࠇߡࠆߚ㧘ᧄ శ✢ᖱႎ ਔ⌒⟎ ో࿐┙ࠞࡔߢߪ㕙߽࿕ቯߐࠇߚ߽ߩߢ චಽߢࠅ㧘㗡ㇱߦㅊᓥߔࠆࠃ߁ߥᯏ᪾⊛ߥ࿁ォㆇേ ᯏ᭴ߪਇⷐߢࠆ㧚TWISTER ߦ߅ߡᡆૃ⊛ߥᱠⴕ ࠍታߔࠆࠗࡦ࠲ࡈࠚࠬߣ⚵ߺวࠊߖࠆߎߣߢ࿑ 1 หඨᓘ ੱ㑆 ࿁ォਛᔃ ࠞࡔ ࠪࠬ࠹ࡓਛᔃ ࿑ 3 ឭ᩺ߔࠆේℂ. Fig. 3 Proposed method of capturing optical information ߩࠃ߁ߦਗㅴㆇേࠍⴕ߁ࠞࡔࠪࠬ࠹ࡓ߽ታߢ߈ࠆ ߇㧘ᧄⓂߢߪ↪⠪ߩᱠⴕߪⴕࠊࠇߥ߽ߩߣߒߡ⠨ ߃ࠆ㧚 ߹ߕ, ╙ 1 ߩ⸳⸘ࡄࡔ࠲ߢࠆユマߣਔ⌒ⷞᏅ ࠍౣߔࠆߎߣࠍ⠨߃ࠆߣ, ੱ㑆ߩਔ⌒ (65[mm]) ߩ ⟎ߦࠞࡔࠍ㈩⟎ߔࠆߎߣߦࠃࠅ, ฦ⌒ߦኻᔕߒߚ ᤋ߇ขᓧߢ߈ࠆ (࿑ 3). ߹ߚ, ਔ⌒ࠞࡔࡍࠕࠍ㗡ㇱ ࿁ォਛᔃゲߣਔ⌒ߩ⟎㑐ଥࠍሽߒߚ߹߹ో࿐ߦ ㈩⟎ߔࠆߎߣߦࠃࠅ, ੱ㑆ߩ㗡ㇱ࿁ォゲ߇࿕ቯߐࠇߡ ࠆᤨߩ 360[degree] ߩᤋ߇↢ᚑน⢻ߣߥࠆ. ߎࠇ ߪߜࠂ߁ߤඨᓘ 105∼115[mm] ߩߦࠞࡔࠍ㈩ ⟎ߔࠆߎߣߣ╬ଔߢࠆ (࿑ 3). ߥ߅, ਔ⌒ࠞࡔࡍࠕ ߩ㈩⟎ᣇᴺߪ, 1 ኻߩࠞࡔࡍࠕࠍ㈩⟎ߔࠆᣇᴺߣⶄ ᢙߩࠞࡔࡍࠕࠍ㈩⟎ߔࠆᣇᴺ߇⠨߃ࠄࠇࠆ. ⶄᢙߩ ࠞࡔࡍࠕࠍ㈩⟎ߔࠆ႐ว, ⷰኤ‛ߩ〒㔌ߦࠃߞߡ ⛔วᤋߩធ⛯ὐߦ߅ߡਇㅪ⛯ᕈ߇↢ߓࠆ߇, ࠞࡔ ޓޓ ࡍࠕ 1 ኻߩߺߩ႐ว, ో࿐ߩᤋࠍขᓧߔࠆߚ ࿑ 4 ឭ᩺ߔࠆࠞࡔ㈩⟎. Fig. 4 Design concept of the camera system ߦࠞࡔࠍ࿁ォߐߖࠆᔅⷐ߇ࠅ, 㜞ࡈࡓ ࠻ࠍ⏕ߢ߈ߥ. ߒߚ߇ߞߡࡈࡓ࠻ࠍ⏕ ߔࠆߚߦⶄᢙบߩࠞࡔࡍࠕࠍ↪ߒ (࿑ 4), ᤋ ធ⛯ὐߩ㗴ߪߩᣇᴺߢ⸃ߔࠆ. ℂᗐ⊛ߦߪή㒢 ႎࠍขᓧߔࠆߎߣߪ㕖ታ⊛ߢࠆ. ታ⊛ߦߪ, ኻߩࠞࡔࡍࠕࠍ㈩⟎ߔࠇ߫ో࿐ߦኻߒߡኒߥశ✢ ↪⠪ߩ㗡ㇱ⟎ࠍ㒢ߔࠆߎߣߦࠃࠅੑᰴర߳ߩᓇ ᖱႎࠍขᓧߢ߈ࠆ߇, ታ⊛ߦߪࠞࡔ߇‛ℂ⊛ߥᄢ ߇น⢻ߣߥࠆߚ, ࠪࠬ࠹ࡓߩ⸘▚㊂ࠍシᷫߢ߈ ߈ߐࠍᜬߟߚߦ, ࠞࡔบᢙߪ㒢ߐࠇࠆ. ࠆ. ᴚဳ࠺ࠖࠬࡊࠗߩ↪⠪ߩ⒖േ▸࿐߇㒢ߐ ࠇߡࠆߣቯߔࠆߣ, ࠪࠬ࠹ࡓߪߘߩ▸࿐ౝߩ శ✢ᖱႎࠍᰳ⪭ήߊขᓧߔࠇ߫⦟. એߩ⼏⺰߆ࠄ, ࠪࠬ࠹ࡓߩ⸳⸘ߦ߅ߌࠆ⋡ᮡࡄ ࡔ࠲ࠍ߹ߣࠆߣએਅߩࠃ߁ߦߥࠆ. 1. ユマ߅ࠃ߮ਔ⌒ⷞᏅߩౣ 2. 360[degree] ߩⷞ㊁ 3. ↢ᚑᤋߩࡈࡓ࠻ 30[fps] એ, ߆ ࠄឭ␜߹ߢߩㆃᑧ 0.1[sec] ⒟ᐲએਅ 2.3 全周囲立体撮像カメラの試作 એߩ⸳⸘ߦࠃࠅ, ో࿐┙ࠞࡔࠍ⹜ߒ ߚ (࿑ 5, ࿑ 6). ฦࠞࡔߦߪ Point Grey Research ␠ ߩ FireflyMV(⸃ᐲ 640×480, ࡈࡓ࠻ᦨᄢ 60[fps], ኸᴺ 25×40[mm]) ࠍ↪ߒ, ὶὐ〒㔌 2.9[mm] ࡦ࠭ (᳓ᐔ↹ⷺ 67[degree], ု⋥↹ⷺ 53[degree]) ࠍ ⵝ⌕ߒߚ. శゲߦኻߒ 90[degree] ࿁ォߐߖߡ↪ߚ (᳓ᐔ↹ⷺߪ 53.2[degree] ߣߥࠆ). FireflyMV ࠍ↪ ࠆߣ, ᦨᄢ 8 ኻߩࠞࡔࡍࠕࠍ㈩⟎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╴࠺ࠖ ࠬࡊࠗߩਛᔃゲߦᗐቯߒߡ߅ࠅ, ߎߩਛᔃゲ߆ࠄో ࿐ࠍ࿁ߒߚᤋࠍឭ␜ߒߡࠆ. ߎࠇߪߜࠂ߁ ߤ↪⠪ߩⷞὐ߇ਛᔃゲࠃࠅ㔌ࠇߚ৻ቯߩࠍ⒖ േߔࠆߎߣߣ╬ߒ. ߒߚ߇ߞߡ, ో࿐┙ࠞ ࡔߪ, 㗡ㇱ࿁ォゲ߇࿕ቯߐࠇߡࠆߣቯߒߚᤨߩ ੱ㑆߇࿐ࠍᷰߔ᭽ሶࠍౣߔࠆࠃ߁ߦ⸳⸘ߔࠆ. 3 カメラシステムの機能設計と構築 ᴚဳ࠺ࠖࠬࡊࠗߦឭ␜ߔࠆᤋࠍ↢ᚑߔࠆߚ ߦ, ࠪࠬ࠹ࡓౝߦએਅߩᯏ⢻ࠍᜬߟᤋಣℂ࠰ࡈ࠻ࠍ ⸳⸘ߔࠆᔅⷐ߇ࠆ. 1. ᱡߺᱜ 2. ⟎ · ᆫᱜ 3. ⦡ᱜ 4. ᤋวᚑಣℂ 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 ⟎ᆫᱜ↪ߩ╴ࠣ࠶࠼. Fig. 7 Calibration pattern ᱜ೨ ޓޓޓ ᱜ㕙࿑ ޓ ᱜᓟ ࿑ 5 ⹜ࠞࡔߩኸᴺ [mm]. Fig. 5 Dimensional outline of the camera system ޓޓޓ ޓ ࿑ 8 ⟎ᆫᱜ೨ᓟߩขᓧ↹. Fig. 8 Image of the correction of optical axis 3.2 位置 · 姿勢補正 ⸳⸘ߒߚࠞࡔ㈩⟎ߩశゲߣታ㓙ߩࠞࡔశゲߪ৻ ⥌ߒߥߚ, ขᓧ↹ߪฦࠆߥ⇣ߢޘ⟎ߣᆫߢ ߐࠇߚ⚿ᨐߣߥࠆ. ߘߎߢࠞࡔߩ⟎ᆫࠍ৻ ⥌ߐߖࠆߚߦࠄ߆ߓ⸳⸘ߩᲑ㓏ߢ‛ℂ⊛ߦ⺞▵ ߔࠆߣ⦟߇, ⺋Ꮕߪଐὼߣߒߡᱷࠆ. ߎߩዊߐߥ⺋ Ꮕߦኻߒߡᧄ⺰ᢥߢߪࠞࡔขᓧᤋߩ⟎ᆫࠍᤋ ߩ 3 3 ߩᓇⴕߦࠃࠆᓇᄌ឵ߦࠃߞߡࠠࡖ ࿑ 6 ⹜ߒߚో࿐┙ࠞࡔ. Fig. 6 Prototype of the panoramic stereo camera ࡉ࡚ࠪࡦࠍⴕ߁. ᤋߩ․ᓽὐ߇ℂ⺰⊛ߦ⟎ ߔࠆ↹ᐔ㕙ߩᐳᮡࠍ (x, y), ታ㓙ߦߘߩ․ᓽὐ߇ ⟎ߒߡࠆᐳᮡࠍ (x , y ) ߣߔࠆߣ, ᑼ (1) ߩ 3×3 ߩ ᓇᄌ឵ⴕ P ࠍ᳞ࠇ߫⦟. 5. ᐳᮡᄌ឵ 1∼3 ߪⶄᢙบߩࠞࡔߩ․ᕈࠍ৻⥌ߐߖࠆߚߦᔅ ⷐߥಣℂߢࠅ, 4 ߪⶄᢙบߩࠞࡔߢขᓧߒߚᤋ ࠍߟߥ߉วࠊߖߡ 360[degree] ߩ৻ߟߩᤋࠍ↢ᚑߔ ࠆಣℂߢࠆ. ᦨᓟߦ, ↢ᚑߐࠇߚᤋߪ, ᴚဳ࠺ࠖ ࠬࡊࠗߩᒻ⁁ߦࠃߞߡᐳᮡᄌ឵ࠍⴕࠊߥߌࠇ߫ߥࠄ ߥ. TWISTER ߳ឭ␜ߔࠆ႐วߦߪ, ╴ᐳᮡߦᄌ ឵ߔࠆᔅⷐ߇ࠆ. (tx , ty , t)T = P (x, y, 1)T (1) ߎߩᓇᄌ឵ⴕ P ࠍ᳞ࠆᚻ㗅ߪએਅߩࠃ߁ߦߥࠆ. 1. ࠠࡖࡉ࡚ࠪࡦࡄ࠲ࡦߩℂ⺰ᐳᮡࠍ⸘▚ 2. ฦࠞࡔߢࠠࡖࡉ࡚ࠪࡦࡄ࠲ࡦࠍᓇ 3. ࠠࡖࡉ࡚ࠪࡦࡄ࠲ࡦߩ↹㕙ᐳᮡࠍ⸘᷹ 4. ታ᷹ᐳᮡ߆ࠄᓇᄌ឵ⴕࠍ⸘▚ 5. ฦࠞࡔᤋࠍᓇᄌ឵ 3.1 歪み補正 ฦࠞࡔߢขᓧߒߚᤋߪฦࠞࡔ߇ᜬߟౝㇱ․ᕈ ߦࠃߞߡࡦ࠭ᱡߺ߇↢ߓࠆ. ࠞࡔࡦ࠭ߩᱡߺ ᱜߪ Zhang ࠄ [17] ߦࠃߞߡ◲ଢߥᱜᣇᴺ߇ឭ᩺ߐ ╴ࠣ࠶࠼ࠍ↪ߔࠆ (࿑ 7, Ꮐ࿑ߪਛᔃߦో࿐┙ ࠇߡ߅ࠅ, ᧄࠪࠬ࠹ࡓߢ߽ Zhang ߦࠃࠆᚻᴺࠍ↪ߚ. 494[mm], 㜞ߐ 200[mm] ߩ߽ߩߢ, ߎߩ╴ࠣ࠶࠼ ᧄ⺰ᢥߢߪࠠࡖࡉ࡚ࠪࡦࡄ࠲ࡦߣߒߡߪ ࠞࡔࠍ⟎߈, ᩰሶὐߩ⸘᷹ࠍߒߡࠆ᭽ሶ. ฝ ࿑ߪ╴ࠣ࠶࠼ߩᄢ࿑). ╴ࠣ࠶࠼ߪඨᓘ߇ 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 ⟎ᱜ೨ᓟߩᤋߩ᳓ᐔု⋥⺋Ꮕ. Fig. 9 Pixel error of the image ೨ ߩᩰሶὐ߇ᧄ⺰ᢥߢ↪ߔࠆ․ᓽὐߣߥࠆ. ߎߩ 4 ὐ ߩ․ᓽὐ߆ࠄ, ᓇᄌ឵ⴕ P ࠍ᳞ߚ. ࿑ 8(Ბ߇ᱜ೨, ਅᲑ߇ᱜᓟ) , ࿑ 9 ߦᱜߩ⚿ ᨐࠍ␜ߔ. ࿑ 8 ߪⶄᢙߩࠞࡔߢขᓧߒߚ╴ࠣ࠶ ᱜ ᓟ ࠼ߩ↹߇⛔วߐࠇߚ᭽ሶࠍ␜ߒߡ߅ࠅ, ⿒✢ߢ࿐߹ ࠇߚㇱಽࠍࠆߣᱜ೨ߪฦࠞࡔߢᓇߒߚ᳓ᐔ✢ ߇৻⋥✢ߢߪߥߊ, ု⋥ᣇะߦ⺋Ꮕ߇ࠆ߇, ᱜᓟ ߢߪ᳓ᐔ✢ߩ⺋Ꮕ߇シᷫߐࠇߡࠆ. ࿑ 9 ߩࠣࡈࠍ ߡ߽, ࠞࡔ⟎ᆫߩᱜࠍⴕߞߚ⚿ᨐ, ᳓ᐔ⺋ Ꮕߣု⋥⺋Ꮕ߇ዊߐߊߥߞߡࠆߎߣ߇ಽ߆ࠆ. ߥ߅, ޓޓޓ ࠞࡔ # ࠞࡔ $ ࿑ 11 ⦡ᱜ೨ᓟߩ↹. Fig. 11 Result of the color correction ᦨᄢ᳓ᐔု⋥⺋Ꮕߪ 8 บߩࠞࡔߢᓇߒߚࠣ࠶ ࠼↹ 8 ᨎߦ߅ߌࠆฦ 4 ὐߩ․ᓽὐߩ⟎⺋Ꮕߩᦨᄢ ୯, ᳓ᐔု⋥ᐔဋ⺋Ꮕߪฦ․ᓽὐߩ⟎⺋Ꮕࠍᐔဋ ߒߚ߽ߩߢࠆ. 3.3 色補正 ฦࠞࡔߢߪ CCD ߩ⦡ᗵᐲ߇⇣ߥࠆߚ, ↹㑆 ߢ⦡ᱜࠍⴕ߁ᔅⷐ߇ࠆ. ⦡ᱜߩᚻ㗅ߪએਅߩࠃ ߁ߦߥࠆ. 1. ฦࠞࡔߢࠞ࠴ࡖ࠻ࠍᓇ 2. ᓇߒߚ࠴ࡖ࠻↹ߩฦ⦡ RGB ୯ࠍ⸘᷹ 3. ฦ RGB ߩℂ⺰୯ߣታ᷹୯ߩ㑐ଥࠍࠣࡈൻ 4. ฦࠞࡔߩ⦡․ᕈࠍߔ⦡⋥✢ࠍផቯ 5. ฦࠞࡔ↹ߩ↹⚛୯ࠍ᳞ߚ⦡⋥✢ߦࠃࠅᄌ឵ ᧄ⺰ᢥߢߪࠞ࠴ࡖ࠻ߦ Gretag Macbeth ␠ ߩࠞ࠴ࡖ࠻ࠍ↪ߚ. ࠞ࠴ࡖ࠻ߩᓇⅣ ႺߣߒߡߪశḮߦጤፒ㔚᳇␠ߩ౮⌀ᾖ↪ࠕࠗࡦ ࡊ PRF100V 350WD (⦡᷷ᐲ 5,900[K]) ࠍ 4 ߟ↪ߒ, ᓇߔࠆࠞ࠴ࡖ࠻ߩ࿐ߩࠆߐ߇ 1,700[lx] ߦ ߥࠆࠃ߁ߦ㈩⟎ߒߚ (࿑ 10). એߩⅣႺਅߢฦࠞࡔ ߦࠃߞߡห৻ߩࠞ࠴ࡖ࠻ࠍߒ, ↢ᚑ↹߆ ࠄࠞ࠴ࡖ࠻ߩฦ⦡ߦኻߔࠆ RGB ୯ࠍ⸘᷹ߒߚ. ⦡ᱜ೨ᓟߩࠞࡔ↹ߪ࿑ 11 ߩࠃ߁ߦߥߞߚ. ߎ ߎߢߪ⦡Ꮕߩᦨ߽ᄢ߈ 2 ߟߩࠞࡔห჻ߩ⦡ᱜ⚿ ᨐࠍ␜ߔ. ࿑ 12 ߦߪ 16 บߩࠞࡔߢขᓧߒߚᤋߩ ࠞ࠴ࡖ࠻ (⦡:Natural3.5, R) ߩ୯ࠍ␜ߔ. ขᓧ ↹ߣࠣࡈࠃࠅ, ᱜᓟߪᱜ೨ߣᲧセߒߡࠞࡔ 㑆ߩ⦡୯ߩ߫ࠄߟ߈߇ᡷༀߐࠇߡࠆ᭽ሶ߇ಽ߆ࠆ. 3.4 映像統合 ฦࠞࡔߦߟߡߐࠇߚᤋࠍ৻ߟߩో࿐ ᤋߦ⛔วߔࠆߎߣࠍ⠨߃ࠆ. ╙ 2 ┨ߢㅀߴߚᤋ ធ⛯ὐߩਇㅪ⛯ᕈߩ㗴ࠍᡷༀߔࠆߚߦ, ᧄ⺰ᢥߢ ߪᤋႺ⇇ߢࠕ࡞ࡈࠔࡉࡦ࠺ࠖࡦࠣࠍᣉߔ. ฦࠞ ࡔߪ᳓ᐔᣇะߦ 480[pixel](53.2[degree]) ߩᤋࠍข ᓧߔࠆߩߢ, ਛᔃߩ 396[pixel] ࠍ⚐☴ߥᜂᒰ㗔ၞ (45.0[degree]) ߣߒߡ↪ߒ, ߘߩᄖߦࠆ 31[pixel] ߩ㗔ၞࠍࡉࡦ࠺ࠖࡦࠣߒߚ. ߎߩࡉࡦ࠺ࠖࡦࠣ㗔 ၞߪࠞࡔߩ↹ⷺ, ࠞࡔߩ⸃ᐲ, 㓞ࠅว߁ห⌒↪ ߩࠞࡔߩ〒㔌, ࠞࡔਛᔃ߆ࠄᤋធ⛯ὐ߇Ṗࠄ߆ ߦߥࠆὐߦࠆ‛߹ߢߩ〒㔌ߦࠃߞߡਃⷺ㑐ᢙ⊛ ߦ᳞ࠄࠇࠆ. ᧄ⎇ⓥߩ႐ว, ᤋធ⛯ὐ߇ 2[m] ߩ ⟎ߢㅪ⛯ߣߥࠆࠃ߁ߦࡉࡦ࠺ࠖࡦࠣࠍ᳞ߚߣߎ ࠈ 31[pixel] ߣߥߞߚ. ࿑ 14 ߪࡉࡦ࠺ࠖࡦࠣ೨ᓟߦขᓧߒߚ↹ߢࠆ. 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 (KTGHN[/8 100 +''' ⦡ 80 ߩ 60 ୯ 2%+̂'ZRTGUU 42̂)2* 2TGEKUKQP˳ ':6̂&8+̂%#6̂/5 2%+̂'ZRTGUU 'ZVTGOĜ5 ㅍାᯏ 2.̂(92' 2TGEKUKQP˳ &8+̂+ .#0˳%CV̂G 40 42̂)2* 2.̂(92' &8+̂+ Ꮐ⌒↪ 20 .#0˳%CV̂G &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 13 ฝ⌒↪ 69+56'4 ':6̂&8+̂%#6̂/5 'ZVTGOĜ4 ฃାᯏ ࿑ 12 ฦࠞࡔߩ⦡୯. Fig. 12 Color value of each cameras &8+̂+ ࿑ 15 ࠪࠬ࠹ࡓߩ᭴ᚑ. Fig. 15 Configuration of the proposed system ࡉࡦ࠺ࠖࡦࠣ㗔ၞ ⚐☴ᜂᒰ↹ฦ㗔ၞ 4 రᤋ ᤋ ࠕ࡞ࡈࠔࡉࡦ࠺ࠖࡦࠣ 4.1 㒰㗔ၞ システムの実装と撮像結果 実装 એߩ⸳⸘ߦၮߠ߈, ో࿐┙ࠪࠬ࠹ࡓߩ ታⵝࠍⴕߞߚ (࿑ 15). ࠪࠬ࠹ࡓߪฝ⌒↪ࠞࡔߣᏀ ⌒↪ࠞࡔߩߘࠇߙࠇߦߟߡ 8 บߩࠞࡔ߆ࠄォ ㅍߐࠇࠆ࠺࠲ࠍ IEEE1394 ࡇ࠲ࡂࡉ (SANWA ޓޓޓ ᤋ ࿑ 13 ᤋ⛔วߩߚߩࡉࡦ࠺ࠖ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࠲ࡈࠚࠬࡏ࠼ (PLANEX ␠ PL-FW100PE) ߦ❬ߋᭂߡන⚐ߥ᭴ᚑߣߥߞ ߡࠆ. ᧄࠪࠬ࠹ࡓߢߪࠪࠬ࠹ࡓߩฝ⌒/Ꮐ⌒↪ ⸘▚ᯏߢ↢ᚑߒߚᤋࠍㆃᑧߥߊ TWISTER ߳ォㅍ ߔࠆߚߦ, LAN ࠤࡉ࡞↪ߩ DVI ᑧ㐳ᯏ (Gefen ␠ EXT-DVI-CAT5-MS) ߣ 50[m] ߩ Cat-5e, LAN ࠤࡉ࡞ࠍ↪ߚ. ో࿐┙ࠪࠬ࠹ࡓߩᤋข ᓧㇱಽߦߟߡߪ, FireflyMV ࠍᮡḰߢࠨࡐ࠻ߒߡ ࠆ PGR FlyCapture ࠗࡉࠍ↪ߡታⵝߒ, ో ࿐┙ᤋ↢ᚑࠪࠬ࠹ࡓߦߟߡߪ, ╙ 3 ┨ߩ⸳⸘ ࠣࡦࠖ࠺ࡦࡉޓޓޓ೨ ࡉࡦ࠺ࠖࡦࠣᓟ ࿑ 14 ࡉࡦ࠺ࠖࡦࠣ೨ᓟߩขᓧ↹. Fig. 14 Result of the blending method ࠍၮߦ OpenCV, OpenGL ࠗࡉߢታⵝߒߚ. ᧄ ࠪࠬ࠹ࡓߪ 2 บߩ⸘▚ᯏߣ 16 บߩࠞࡔࠍ↪ߡో ࿐ࠍߔࠆࠃ߁ߦ⸳⸘ߒߚ߇, ࠪࠬ࠹ࡓߩᕈ⢻ࠍ ᬌ⸽ߔࠆߚߦߪ 1 บߩ⸘▚ᯏߦធ⛯ߐࠇߚ 8 บߩࠞ ࡔߢචಽߢࠆߚ, ᧄ┨ߢߪඨಽߦ⋧ᒰߔࠆ 8 ࡉࡦ࠺ࠖࡦࠣ೨ߩ↹ਛߩ⿒ਃⷺᒻߢᜰ␜ߐࠇߚ บߩࠞࡔࠍ↪ߚ᭽ሶࠍ␜ߔ㧚 ㇱಽߪᤋធ⛯ὐߢࠅ, ࡉࡦ࠺ࠖࡦࠣᓟߩ↹ਛ 4.2 フレームレートと遅延の測定 ࡈࡓ࠻ߪ CPU ߇ឬ↹ߔࠆ 1 ࡈࡓ㑆ߩ ᵄᢙࠍ QueryPerformanceCounter 㑐ᢙߦࠃࠅ᷹ቯߒ ߚ. ࠪࠬ࠹ࡓౝㇱ (࿑ 15 ߩ FireflyMV ߆ࠄ Preci- ߩ⿒ਃⷺᒻ߆ࠄ㕍ਃⷺᒻߢᜰ␜ߐࠇߚ㗔ၞ߇ࡉ ࡦ࠺ࠖࡦࠣ㗔ၞߢࠆ. ࡉࡦ࠺ࠖࡦࠣࠍᣉߒߚ⚿ᨐ, ᤋߩធ⛯ὐ߇⋡┙ߚߥߊߥߞߡࠆ. 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↢ᚑᤋߩࠬࡍ࠶ࠢ Table 1 Specification of the processed image ᳓ᐔ↹ⷺ ု⋥↹ⷺ ⸃ᐲ ࡈࡓ࠻ ㆃᑧ (ࠪࠬ࠹ࡓౝㇱ) ㆃᑧ (ࠪࠬ࠹ࡓో) Ꮐฝᤋߩᦨᄢု⋥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 ߳ߩᤋឭ␜. Fig. 18 Snapshot of displaying on TWISTER ߨߚ. ߘߩ⚿ᨐ, ┙ⷞߩᚑ┙ࠍⵍ㛎⠪ోຬߦኻߒ ߡ⏕ߢ߈ߚ. ߹ߚ, ⥄ὼߢ✊㤀ߥᤋࠍ↢ᚑߢ߈ߡ ࠆߣ߁࿁╵߽ᓧࠄࠇߚ. ߒߚ߇ߞߡ, ↹ߩታ ࠬࡍ࠶ࠢߣวࠊߖߡ⠨߃ࠆߣ, ឭ᩺ߒߚࠪࠬ࠹ࡓ ߪ⸳⸘ᣇ㊎ࠍోߡḩߚߒߡࠆߣ⠨߃ࠄࠇࠆ. 5 考察 sion690 ߹ߢ) ߩㆃᑧߪࠞࡔߩ㐿ᆎᤨὐ߆ࠄో ࿐┙ᤋࠍឬ↹ߔࠆ߹ߢߩᤨ㑆ࠍหߓߊ QueryPerfomanceCounter 㑐ᢙߦࠃࠅ᷹ቯߒߚ. ߹ߚ, 㘑᥊ࠍ ᚑᤋߩࠬࡍ࠶ࠢߣ↪⠪߆ࠄߩᗵᗐߦࠃࠅ, ᧄࠪࠬ ߒߡ߆ࠄ TWISTER ߦឭ␜ߔࠆ߹ߢ (࿑ 15 ߩ Fire- ߔߥࠊߜ, ᧄࠪࠬ࠹ࡓߦࠃߞߡߐࠇߚᤋߪ, ਃᰴ flyMV ߆ࠄ TWISTER ߹ߢ) ߩㆃᑧࠍ, ᓇኻ⽎ߩⷰ ኤ‛ߣឭ␜ᤋਛߩⷰኤ‛ࠍหᤨߦࡆ࠺ࠝࠞࡔ రᕈࠍ┙ⷞน⢻, ⥄Ꮖᛩᕈࠍ 360[degree] ߩⷞ㊁, ታᤨ㑆ᕈࠍ 29∼30[fps] ߅ࠃ߮ㆃᑧ 0.1[sec] ⒟ᐲ ( ߢᓇߒ, ߘߩࡈࡓㆃࠇࠍ᷹ቯߒߚ. ࠪࠬ࠹ࡓනߢߪ 0.03[sec] ⒟ᐲ), ታⓨ㑆ᤋߩౣᕈ 4.3 撮像と提示 ታⵝߒߚࠪࠬ࠹ࡓߦࠃࠅ㘑᥊ࠍߒ, TWISTER ߳ߩឭ␜ࠍⴕߞߚ. ߎߩᤨ, ࠞࡔߩ㜞ߐߪੱ㑆ߩ⌒ ߩ⟎ߦ⸳ቯߒߚ (࿑ 16). ↢ᚑߐࠇߚᤋߩࠬࡍ࠶ ࠍోߡߩᣇะߩశ✢ᖱႎࠍขᓧߔࠆߎߣࠍ㆐ᚑߢ߈ߡ ࠪࠬ࠹ࡓࠍታⵝߒ, TWISTER ߦ↪ߒߚ⚿ᨐ, ↢ ࠹ࡓߩ⸳⸘ᣇ㊎ࠍోߡḩߚߒߡࠆߎߣ߇ಽ߆ߞߚ. ࠆ. ߎߩߎߣߦࠃࠅ, ↪⠪ߪ߹ࠆߢ, ߘߩ႐ᚲߦᴚ ߒߡࠆࠃ߁ߥᗵⷡࠍᓧࠆߎߣ߇น⢻ߣߥߞߚ. ᧄ ⎇ⓥߢߪ DVI ᑧ㐳ᯏߦࠃߞߡ DVI ାภࠍᑧ㐳น⢻ߥ ࠢߪ 1 ߩࠃ߁ߦߥߞߚ. ࡈࡓ࠻ߥߤߩࡄ ▸࿐ߢࠪࠬ࠹ࡓࠍታⵝߒߚ߇, ⵝ⟎ߣឭ␜ⵝ⟎ࠍ ࡔ࠲ߪ⸳⸘᧦ઙㅢࠅߩᢙ୯߇ታߐࠇߡࠆ. ߹ DVI ߩᑧ㐳㒢⇇ࠍ߃ߚ㆙〒㔌ߢߩធ⛯߇ᔅⷐߥ႐ว ߢߪ DVI ାภࠍశࡈࠔࠗࡃ߹ߚߪ LAN ⚻↱ߢㅢାߔ ߚ, ࠪࠬ࠹ࡓ߇ో࿐┙ᤋࠍ↢ᚑߔࠆㆃᑧߪ 0.03[sec] ⒟ᐲߢࠅ, ࠪࠬ࠹ࡓනߢߪ㕖Ᏹߦዋ ߥㆃᑧߢᯏ⢻ߒߡࠆ. ߆ࠄឭ␜߹ߢߪᦨᄢ ࠆᔅⷐ߇ࠆ. ࠄ߆ߓࠄࠇߚ⠪ห჻ㅢାߩ႐ วߦߪశࡈࠔࠗࡃߢ⋥ធߟߥߋᣇᴺ߇ࠅ, DVI ାภ 0.14[sec] ߆߆ࠆ߇, ߎࠇߪࡆ࠺ࠝࠞ࠼ߩജ߆ࠄ↹ ␜ㇱߦ߅ߡ↢ߓߡࠆㆃᑧߩᓇ㗀ࠍฃߌࠆߚ ㅊടߩㆃᑧߪ⊒↢ߒߥ. ৻ᣇ, ਇ․ቯᄙᢙߩ⋧ᚻߣ ߢࠆ. ᦨᓟߦ, 360[degree] ߩᤋࠍ↢ᚑน⢻ߢࠆ ㅢାߔࠆ႐วߦߪ㧘ࠗࡦ࠲ࡀ࠶࠻ࠍ⚻↱ߔࠆᣇᴺ߇ ߆ᬌ⸽ߔࠆߚߦ, 180[degree] Ფߦ⇣ߥࠆᤨ㑆ߢ ⠨߃ࠄࠇࠆ㧚ߎߩᣇᴺߦ߅ߡ⊒↢ߔࠆㆃᑧߪࡀ࠶࠻ ࠍశࡈࠔࠗࡃߦᄌ឵ߒߡౣ߮ DVI ߦᄌ឵ߔࠆߎߣߢ ߒߚਔ⌒ᤋࠍ⛔วߒ, 360[degree] ߩᤋࠍ↢ᚑߒߚ. ࡢࠢߩ․ᕈ߿↹❗ᣇᴺߦࠃߞߡᄢ߈ߊᄌൻߔࠆ ᧄࠪࠬ࠹ࡓߢߪ, TWISTER ߩ⸃ᐲߦ⋧ᒰߔࠆ 3168 ߇㧘ㄭᐕߢߪ㜞⸃ᐲᤋߩㅢାᛛⴚ߇⊒ዷߒߟߟ 600[pixel] ߩᤋ߇↢ᚑߐࠇߚ (࿑ 17). ࠅ㧘ᓟ⸃น⢻ߥ⺖㗴ߢࠆߣ⠨߃ࠄࠇࠆ㧚 ↢ᚑᤋࠍታ㓙ߦ TWISTER ߳ឭ␜ߒ (࿑ 18), 14 ࠕࡦࠤ࠻ࠍⴕߞߚ㓙ߩ⥝ᷓ࿁╵ߣߒߡ, ੱߩ 20㨪30 ઍ↵ᕈߩ↪⠪ߦኻߒߡญ㗡ߦࠃࠆ⥄↱ ޟTWISTER ߢߔߋ⋡ߩ೨ߦੱ߇ࠆߦ߽㑐ࠊࠄߕ, ᒻᑼߩࠕࡦࠤ࠻ࠍⴕߞߚ. ⾰ߩౝኈߣߒߡߪ┙ޟ ࠗࡦ࠲࡚ࠢࠪࡦࠍⴕ߃ߥߚߦ㕖Ᏹߥ⇹ᄖᗵࠍ ⷞ߿↹ߩ⾰ޟޠᡷༀߔߴ߈ὐߩߡߟߦޠᗵᗐࠍ ᗵߓߚޠ, ߇ੱޟേߚᤨߦᦠഀലᨐ߇シᷫߐࠇߡ 日本バーチャルリアリティ学会論文誌 Vol.13, No.3, 2008 ޓޓޓ ǰ= 0[degree] ǰ= 360[degree] Ꮐ⌒ ฝ⌒ ޓޓޓ ࿑ 17 ⹜ࠪࠬ࠹ࡓߦࠃࠆ⚿ᨐ. Fig. 17 Processed 360 qstereoscopic video image ࠆߚߞߣޠ࿁╵ࠍᓧߚ. ޟTWISTER ߢߔߋ⋡ߩ ߒ㧘⼱ߩࠃ߁ߦᤋ߇ๆㄟ߹ࠇࠆࠃ߁ߦ߃ࠆ, ೨ߦੱ߇ࠆߦ߽㑐ࠊࠄߕ, ࠗࡦ࠲࡚ࠢࠪࡦࠍⴕ߃ ߣ߁ᗵᗐࠍᓧߡࠆ. ᧄᚻᴺߦ߅ߡߪࠞࡔߩบ ߥߚߦ㕖Ᏹߥ⇹ᄖᗵࠍᗵߓߚߪߡߟߦޠ, ࿁ TWISTER ߆ࠄᄖㇱⅣႺ߳ߩࠗࡦ࠲࡚ࠢࠪࡦࠍⴕ ߁ࠪࠬ࠹ࡓࠍታⵝߒߡߥ߆ߞߚߚߦᓧߚ࿁╵ߢ ࠅ, ↪⠪ߪࡃ࠴ࡖ࡞ߦߘߩ႐ߦࠆߦ߽㑐ࠊࠄߕ, ᢙ߇Ⴧ߃ࠆߣᤋߩႺ⇇߽Ⴧ߃ࠆߚ㧘ࠞࡔࠍჇ߿ ߔߎߣߪ┙ᗵ߇ᷫߔࠆ㗔ၞࠍჇ߿ߔߎߣߦ❬߇ࠆ㧚 ৻ᣇࠞࡔᢙࠍዋߥߊߔࠆߣࠞࡔ↹ⷺߩㄝㇱߢߩ ᤋߩᐞቇ⊛ߥᱡߺ߇ᄢ߈ߊߥࠅ㧘ᤋႺ⇇ߢߩ⺋ ⋧ᚻߣߩࠗࡦ࠲࡚ࠢࠪࡦࠍⴕ߃ߥ߽ߤ߆ߒߐࠍᗵ Ꮕ߇ᄢ߈ߊߥࠆ. ߟ߹ࠅ, ┙ᗵ߇ᷫߔࠆ㗔ၞߩᢙ ߓߡࠆߣ⠨߃ࠄࠇࠆ. ㅒ⺑⊛ߦ⸒߃߫, ↪⠪ߪታ ߣฦᤋႺ⇇ߦ߅ߌࠆᐞቇ⺋Ꮕߩ࠻࠼ࠝࡈ߇ 㓙ߦߘߩ႐ߩ⁁ᴫౝߦᴚߒߡࠆᗵⷡࠍᓧߡࠆߎ ߎࠆߚ㧘ᓟߪᐞቇ⺋Ꮕߩ⸵ኈ㊂ࠍᬌ⸛ߔࠆߣߣ ߣࠍᗧߒߡ߅ࠅ, ᧄࠪࠬ࠹ࡓߦࠃߞߡⷞⷡ⊛ߦ࠹ ߽ߦ, ߎߩ࠻࠼ࠝࡈࠍ⠨ᘦߒߡᦨㆡߥࠞࡔบᢙ ࠗࠣࠫࠬ࠲ࡦࠬ߇ታߐࠇߡࠆ᭽ሶ߇ુ߃ߚ. หᤨ ࠍ⸳⸘ߔࠆߎߣࠍ⋡ᮡߣߔࠆ. ߦ TWISTER ߆ࠄࠗࡦ࠲࡚ࠢࠪࡦࠍⴕ߃ࠆࠪࠬ࠹ ࡓࠍታߔࠆᔅⷐᕈ߇ࠆߎߣ߇⏕ߢ߈ߚ. ᧄ⎇ⓥߢߪ㧘ⓨ㑆ౝߢߩઁ⠪ߣߩࠦࡒࡘ࠾ࠤ࡚ࠪ ࡦߣ㧘㆙㓒ߩ㘑᥊ߩᓇߣ߁ਥߦ 2 ߟߩᔕ↪ߦ㊀ ᦠഀലᨐߣߪᤋਛߩ‛߇⥰บߦਗߴࠄࠇߚ⢛᥊ ὐࠍ⟎ߚ߇㧘ࠦࡒࡘ࠾ࠤ࡚ࠪࡦߦ㑐ߒߡߪ㧘ઁ⠪ߣ ߩࠃ߁ߥᦠഀߦ߃ࠆ⽎ߢࠅ, 㕒ᱛ↹ߢ┙ⷞࠍ ߩળߦ߅ߡᖱ߿⚦߆ࠫࠚࠬ࠴ࡖߩขᓧ߇ᔅ ⴕ߁ߣ߈ߦ↢ߓࠆߎߣ߇⍮ࠄࠇߡࠆ. ߘߩේ࿃ߪ ⷐߥߩߪ 1∼3[m] ⒟ᐲߩ▸࿐ߢࠆߣ⠨߃ࠄࠇࠆ. ߥ ᭽ⷐߥޘ࿃߇⠨߃ࠄࠇࠆ߇, ৻ߟߦߪㆇേⷞᏅߩᰳᅤ ߗߥࠄ, 3[m] એߩ〒㔌ߢߩࠦࡒࡘ࠾ࠤ࡚ࠪࡦߢߪ ߦࠃߞߡ↢ߓࠆߣ⸒ࠊࠇߡࠆ [18]. ߒߚ߇ߞߡ, േ ⚦߆⨲ࠍⷞⷡ⊛ߦࠄ߃ㄆߎߣ߿, ᥉Ბߩળ ↹ߢߪ⋧ኻ⊛ߥㆇേⷞᏅ߇↢ߓ, ᦠഀലᨐ߇シᷫߐࠇ ߢߪ 1㨪3[m] ߩ〒㔌ߢߩࠦࡒࡘ࠾ࠤ࡚ࠪࡦ߇ਥߣ ࠆߎߣ߇ᦼᓙߐࠇࠆ߇, ߇ੱޟേߚᤨߦߢߪᦠഀല ߥࠆ߆ࠄߢࠆ. ᧄࠪࠬ࠹ࡓߢߪࠞࡔਛᔃ߆ࠄ 2[m] ᨐ߇シᷫߐࠇࠆߡߞࠃߦ࠻ࡦࡔࠦ߁ߣޠ, ߹ߐߦᦼ ߩㄭறߦ߅ߡᤋߩ⺋Ꮕ߇ᦨዊߣߥࠆࠃ߁ߦࡉࡦ ᓙߒߡߚേ↹ߦࠃࠆㆇേⷞᏅߩౣ߇⏕ߐࠇ ࠺ࠖࡦࠣࠍ⸳ቯߒ㧘1∼3[m] ߦ߅ߡߪචಽߥ↹⾰ ߚߣ⸒߃ࠆ. ߢ⋧ᚻߩᖱࠍવ㆐ߢ߈ࠆߎߣ߇⏕ߐࠇߚ㧚ߎࠇߪ ᧄࠪࠬ࠹ࡓߩᦨ߽ᄢ߈ߥ⺖㗴ߣߒߡߍࠄࠇࠆߩߪ, 㛎⠪߇⇹ᄖᗵࠍᗵߓߚߣ╵߃ߚߎߣ߆ࠄ, 㛎⠪߇ ฦࠞࡔห჻ߩᤋធ⛯ߦኻߔࠆಣℂߢࠆ. ࿑ 17 ᤋਛߩੱ‛ߩ㔓࿐᳇߿ᗵᖱߥߤࠍ⺒ߺขࠇߡࠆߎ ߦ߅ߌࠆ ⌒ᤋߩߺࠍ⌑ࠆߣᤋធ⛯ὐߪ⥄ὼߦ ߣ߆ࠄ߽ಽ߆ࠆ. 1[m] ࠃࠅㄭ▸࿐ߦ߅ߡߪᖱႎߩ ⛔วߐࠇߡࠆ߆ߩࠃ߁ߦ߃ࠆ. ߒ߆ߒ, ┙ⷞࠍ ᰳ⪭߇↢ߓታ↪⊛ߥ↹⾰ࠍߟߎߣ߇ߢ߈ߥ߇㧘ᧄ ⴕߞߚ㓙ߦߪߎࠇࠄߩᤋߩႺ⇇ߦ߅ߡ┙ᗵ߇ᷫ ࠪࠬ࠹ࡓߩ↪ㅜߦ߅ߡߪߘࠇ߶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] એߩ㆙〒㔌ߦ߅ߡ ߪ㧘ᖱႎߩ㊀ⶄ߇↢ߓࡉࡦ࠺ࠖࡦࠣߦࠃࠅߘࠇࠍ✭ ߔࠆߚ㧘ᤋߩࡉ߿ᧄ᧪ࠆߴ߈ឭ␜⟎߆ࠄ ߩ⺋Ꮕ߇⊒↢ߒ㧘ߎࠇ߇┙ᗵߩᷫࠍ↢ࠎߢߒ߹ߞ ߡࠆ㧚ߒ߆ߒߥ߇ࠄ㆙ߊߩ㘑᥊ࠍ⌑ࠆߣߞߚ↪ ㅜߦ߅ߡߪ⁁ߢ߽ታ↪ߘࠇ߶ߤ㗴ߪ↢ߓߕ㧘 ᓟᤋวᚑᚻᴺߩᡷༀࠍⴕ┙ᗵߩะࠍ࿑ࠆߎ ߣߢ㧘ࠃࠅᐢ▸࿐ߦ߅ߡ⥃႐ᗵߩ㜞ⅣႺࠍታ ߢ߈ࠆߣ⠨߃ࠄࠇࠆ㧚߃߫ Shum ࠄ [19] ߦ߅ߡᧄ ⎇ⓥߦㆡ↪น⢻ߥࡑ࠶࠴ࡦࠣᣇᴺ߇ឭ᩺ߐࠇ߅ࠅ, ߎ ࠇࠄߩᣇᴺࠍᧄࠪࠬ࠹ࡓߦㆡ↪ߔࠆߎߣ߇ലߢࠆ ߣ⠨߃ࠄࠇࠆ㧚 6 まとめ ᧄ⺰ᢥߢߪ, ࠹ࠗࠣࠫࠬ࠲ࡦࠬߩ᧦ઙࠍోߡḩߚߔ ߎߣ߇ߢ߈ࠆࠪࠬ࠹ࡓࠍឭ᩺, ⸳⸘ߒ, 360[degree] ߩਔ⌒┙ᤋࠍ 30[fps], ㆃᑧ 0.1[sec] ⒟ᐲߢน ⢻ߥࠞࡔࠪࠬ࠹ࡓࠍታߒߚ. ߐࠄߦ, ᧄࠪࠬ࠹ࡓ ߢ↢ᚑߐࠇߚᤋࠍ TWISTER ߦឭ␜ߒߚߣߎࠈ, ⷞ ⷡ⊛ߥ࠹ࠗࠣࠫࠬ࠲ࡦࠬ߇น⢻ߥߎߣ߇␜ߐࠇߚ. ᧄࠪࠬ࠹ࡓߪᓟ, ㆙㓒ᠲߦࠃߞߡᄖㇱߣߩࠗࡦ࠲ ࡚ࠢࠪࡦࠍน⢻ߣߔࠆⵝ⟎ߣߩ⛔วߦࠃࠅ, ࠦࡒࡘ ࠾ࠤ࡚ࠪࡦࠪࠬ࠹ࡓ߳ߩ⊒ዷ߇น⢻ߢࠆߣ⠨߃ࠄ ࠇࠆ. 参考文献 [1] S.Tachi and H.Arai, “Study on Tele-existence(II)Three Dimensional Color Display with Sensation of Presence-,” Proceedings of the ̉ 85 ICAR(International Conference on Advanced Robotics), pp. 345-352, 1985 [2] Carolina Cruz-Neira, Daniel J. 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Szeliski, “Construction of Panoramic 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࠹ࡓᖱႎቇኾୃ჻⺖ ⒟තᬺ㧚ߦ⥋ࠆ. 城 堅誠 㧔ቇ↢ળຬ㧕 2007 ᐕ᧲੩ᄢቇᎿቇㇱ⸘ᢙᎿቇ⑼ත ᬺ㧚㧘หᄢቇᄢቇ㒮ᖱႎℂᎿቇ♽⎇ ⓥ⑼ࠪࠬ࠹ࡓᖱႎቇኾୃ჻⺖⒟ቇਛ㧚 ࡃ࠴ࡖ࡞ࠕ࠹ࠖ㧘ᒛታᗵߩ⎇ ⓥ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࠹ࡓᖱႎቇኾୃ჻⺖⒟ୃੌ㧚 หᐕหኾඳ჻⺖⒟ㅴቇ㧘ᣣᧄቇⴚᝄ⥝ ળ․⎇ⓥຬ (DC1)㧚ࡂࡊ࠹ࠖ࠶ࠢࠗࡦ ࠲ࡈࠚࠬ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⒟ᓮᎿቇኾୃੌ㧚ห ᐕᩣᑼળ␠࠻ࠠࡔ࠶ࠢ␠㧚2003 ᐕ 4 ห␠ㅌ␠㧚2003 ᐕ߆ࠄ 2006 ᐕ߹ߢ㔚᳇ ㅢାᄢቇᄢቇ㒮㔚᳇ㅢାቇ⎇ⓥ⑼ඳ჻ᓟ ᦼ⺖⒟ᯏ᪾ᓮᎿቇኾ☋㧚㧘᧲ ੩ᄢቇᄢቇ㒮ᖱႎℂᎿቇ♽⎇ⓥ⑼ࠪࠬ࠹ ࡓᖱႎቇኾഥᢎ㧚ᖱႎᛩᓇᛛⴚࠍ↪ ߒߚࡅࡘࡑࡦࠗࡦ࠲ࡈࠚࠬߩ⎇ⓥߦ ᓥ. 川上 直樹 㧔ᱜળຬ㧕 ᐔ 8 ᧲ᎿᄢℂᎿ㔚᳇㔚ሶୃ჻⺖⒟ ୃੌ㧚ᐔ 11 ᧲ᄢᎿవ┵ቇ㓙Ꮏඳ჻⺖ ⒟ୃੌ㧚Ꮏቇඳ჻㧚หᐕ᧲ᄢ㒮Ꮏ⸘ ᢙᎿഥᚻ㧘ᐔ 14 ᧲ᄢ㒮ᖱႎℂᎿࠪࠬ ࠹ࡓᖱႎቇኾ⻠Ꮷ㧚ࡃ࠴ࡖ࡞ࠕ ࠹ࠖߩ⎇ⓥߦᓥ. 舘 㧔ᱜળຬ㧕 ᤘ 43 ᧲ᄢᎿ⸘ᢙත㧚ᤘ 48 หᄢ ᄢቇ㒮ඳ჻⺖⒟ୃੌ㧚Ꮏቇඳ჻㧚หᐕห ᄢഥᚻ㧚ᤘ 50 ㅢ↥⋭Ꮏᛛ㒮ᯏ᪾ᛛ⎇⎇ ⓥຬ㧘ࡑࠨ࠴ࡘ࠶࠷Ꮏ⑼ᄢቇቴຬ⎇ ⓥຬࠍ⚻ߡ㧘ᐔ 1 ᧲ᄢవ┵⑼ቇᛛⴚࡦ ࠲ഥᢎ㧘ᐔ 4 หࡦ࠲ᢎ㧘ᐔ 6 หᄢᎿ⸘ᢙᎿᢎ㧘ᐔ 13 หᄢᄢቇ 㒮ᖱႎℂᎿࠪࠬ࠹ࡓᖱႎቇኾᢎ㧚 ࠹ࠗࠣࠫࠬ࠲ࡦࠬ㧘ੱᎿታᗵߩ⎇ⓥ 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.