Naoki Kawasaki

Standard platform for sensor fusion on advanced driver assistance system using Bayesian Network

In this paper, a new architecture for sensor fusion for advanced driver assistant system (ADAS) is proposed. This architecture is based on Bayesian Network and plays the role of a platform for integrating various sensors such as Lidar, Radar and Vision sensors into sensor fusion systems. This architecture has the following 3 major advantages: (1) It makes structure and signal flow of the complicated fusion systems easy to understand (2) It increases the reusability of the sensor algorithm modules (3) It achieves easy integration of various sensors with different specifications. These advantages are confirmed by vehicle test.

3D reconstruction under light ray distortion from parametric focal cameras

In this paper, we propose a new camera model for reconstructing 3D objects under light ray distortion caused by refractive medias. The proposed method can reconstruct 3D scene, even if light rays projected into the cameras are refracted by the refractive media, such as glasses and raindrops. For this objective, we represent light ray projection of multiple cameras by using a pair of planes shared by the multiple cameras in the scene. By using this model, intrinsic and extrinsic camera parameters as well as the refractive properties of the refractive media can be represented efficiently. By using the newly defined camera model, we propose a method for recovering 3D points and camera parameters with refractive properties simultaneously. The experimental results show the efficiency of the proposed camera model and reconstruction method.

Accurate 3D Reconstruction from Naturally Swaying Cameras

In this paper, we propose a method for reconstructing 3D structure accurately from images taken by unintentionally swaying cameras. In this method, image super-resolution and 3D reconstruction are achieved simultaneously by using series of motion blur images. In addition, we utilize coded exposure in order to achieve stable super resolution. Furthermore, we show efficient stereo camera arrangement for stable 3D reconstruction from swaying cameras. The experimental results show that the proposed method can reconstruct 3D shape very accurately.