㠽ขᄢቇᄢቇ㒮 Ꮏቇ⎇ⓥ⑼

ోᄤ๟↹௝㆏〝࿾࿑⊓㍳߅ࠃ߮

੤Ꮕὐߦ߅ߌࠆធㄭゞਔᬌ಴

2011 ᐕ 1 ᦬

ᶏ 㣔

㠽ขᄢቇᄢቇ㒮 Ꮏቇ⎇ⓥ⑼

ඳ჻ᓟᦼ⺖⒟ ᖱႎࠛ࡟ࠢ࠻ࡠ࠾ࠢࠬ ኾ᡹

⋡ ᰴ

╙৻┨ ᐨ⺰... 1

1.1 ᧄ⺰ᢥߩ⢛᥊ ... 1

1.2 ᧄ⺰ᢥߩ⋡⊛ ... 2

1.3 ᧄ⺰ᢥߩ᭴ᚑ ... 3

╙ੑ┨ ৻ኻߩ㝼⌒ࠞࡔ࡜ߦࠃࠆోᄤ๟↹௝ߩ₪ᓧ ... 7

2.1 ⃿㕙ᛩᓇࡕ࠺࡞... 7

2.2 㝼⌒↹௝ߣ⃿㕙↹௝ߩኻᔕ ... 10

2.3 ోᄤ๟↹௝ߩ૞ᚑ ... 11

╙ਃ┨ ోᄤ๟↹௝㆏〝࿾࿑⊓㍳ߩߚ߼ߩหᦼ໧㗴 ... 17

3.1 ߪߓ߼ߦ ... 17

3.2 㑐ㅪ⎇ⓥ ... 18

3.3 ৻ኻߩ㝼⌒ࠞࡔ࡜߆ࠄߥࠆోᄤ๟ࠞࡔ࡜ߩหᦼ ... 20

3.3.1 หᦼᚻᴺ ... 20

3.2.2 ࠞࡔ࡜ߩㆇേផቯ ... 21

3.4 ᘠᕈ࠮ࡦࠨ࡯ߣߩหᦼ෸߮௑߈ߩ⵬ᱜ ... 22

3.4.1 ᘠᕈ࠮ࡦࠨ࡯ߣోᄤ๟ࠞࡔ࡜ߩ⋧ኻᆫ൓ߩផቯ ... 23

3.4.2 ᘠᕈ࠮ࡦࠨ࡯ߩหᦼ ... 24

3.4.3 ోᄤ๟↹௝ߩ௑߈⵬ᱜ ... 24

3.5 GPS࠺࡯࠲ߩหᦼ ... 25

3.6 ታ㛎ߣ⚿ᨐ ... 26

3.7 ߹ߣ߼ ... 32

╙྾┨ ోᄤ๟↹௝ߩ⴫⃻ᴺ ... 35

4.1 ߪߓ߼ߦ ... 35

4.2 㑐ㅪ⎇ⓥ ... 37

4.3 ੑᰴర㈩೉⃿㕙↹௝ࡈࠜ࡯ࡑ࠶࠻ ... 39

4.3.1 SCVT↹௝ߩੑᰴర㈩೉ ... 39

4.3.2 㓞ធ㗂ὐ▚಴ ... 40

4.3.3 ⃿㕙ᐳᮡߣSCVT㈩೉ⷐ⚛ߩ㑆ߩ౮௝ ... 43

4.3.4 ੑᰴర⍱ᒻ⃿㕙↹௝ࡈࠜ࡯ࡑ࠶࠻ ... 44

4.4 SIF↹௝ߩㅘⷞ↹௝⴫␜ ... 46

4.5 ታ㛎 ... 47

4.6 ߹ߣ߼ ... 48

╙੖┨ ࡃࠗ࠽࡝ㆇേጁᱧ↹௝ߦࠃࠆ੤Ꮕὐߦ߅ߌࠆ஥㕙߆ࠄߩធㄭゞਔߩᬌ಴ ... 51

ii

5.1 ߪߓ߼ߦ ... 51

5.2 㑐ㅪ⎇ⓥ ... 52

5.3 ࡃࠗ࠽࡝ㆇേጁᱧ↹௝ߩ↢ᚑ ... 54

5.4 ஥㕙߆ࠄធㄭゞਔߩᬌ಴ ... 55

5.4.1 ⢛᥊ߣ஥㕙߆ࠄធㄭゞਔߩಽ㔌 ... 55

5.4.2 ㆇേ㗔ၞಽഀߣㆇേᣇะផቯ ... 57

5.3.3 ታ㛎 ... 59

㪌㪅㪋㩷 㩷߹ߣ߼ ... 60

╙౐┨ ⚿⺰ ... 63

࿑ ⋡ ᰴ

࿑2.1 ࡇࡦࡎ࡯࡞ࠞࡔ࡜ࡕ࠺࡞ߩㅘⷞᛩᓇ ... 7

࿑2.2 ⃿㕙ᛩᓇࡕ࠺࡞ߩ⃿㕙ᛩᓇ ... 8

࿑2.3 ╬〒㔌኿ᓇᣇᑼ ... 9

࿑2.4 (a) ࡒ࡜࡯ࠍ೑↪ߒߚోᣇ૏ⷞⷡ࠮ࡦࠨ࡯ (b) 20୘ߩᐢⷺࠞࡔ࡜ߦࠃࠆోᄤ๟ ࠞࡔ࡜ (c) Googleࠬ࠻࡝࡯࠻ࡆࡘ࡯࠷࡯࡞ࠞࡔ࡜(d)ᧄ⎇ⓥߩోᄤ๟ࠞࡔ࡜ ... 12

࿑2.5 ੑߟߩ㝼⌒↹௝߆ࠄోᄤ๟↹௝ࠍ૞ᚑߔࠆᵹࠇ ... 13

࿑2.6 (a) ૞ᚑߒߚోᄤ๟↹௝⃿㕙↹௝ (b)ోᄤ๟↹௝߆ࠄ૞ᚑߒߚ౐㕙ㅘⷞ↹௝ ... 14

࿑3.1 ోᄤ๟ࠞࡔ࡜㧘ᘠᕈ࠮ࡦࠨ࡯ߣࡂࠗࡉ࡝࠶࠼GPSฃାᯏࠍゞߦ៞タߐࠇߚ᭽ ሶ ... 18

࿑3.2 ోᄤ๟ࠞࡔ࡜(ਅ)ߣᘠᕈ࠮ࡦࠨ࡯(਄)ߩᐳᮡ㑐ଥ ... 23

࿑3.3 ᘠᕈ࠮ࡦࠨ࡯ߩⷺᐲ࠺࡯࠲೉ࠍ10߆ࠄ90࡟࡯ࡓߩ▸࿐ߢᐔṖൻߒߚ⚿ᨐ ... 25

࿑3.4 GPS࠮ࡦࠨ࡯ߩᣇ૏ⷺ࠺࡯࠲ߩࡁࠗ࠭ࠍ㒰෰ߒߚ⚿ᨐ ... 26

࿑3.5 㝼⌒ࠞࡔ࡜ߩ㓞ធߒߡ޿ࠆੑߟߩࡈ࡟࡯ࡓߩࠨࡦࡊ࡞↹௝㧚਄ߩὐߪࠞࡔ࡜ߩ ㆇേ▚಴ߦ᛽಴ߒߚ․ᓽὐߦߥࠆ ... 27

࿑3.6 (a)ߣ(b)ߪߘࠇߙࠇੑߟߩ㝼⌒ࠞࡔ࡜ߩ↹௝೉߆ࠄផቯߒߚ࿁ォⷺᐲ࡛࡯(y)࠺ ࡯࠲೉㧚(c)ߪᘠᕈ࠮ࡦࠨ࡯ߩⷺᐲ࡛࡯ߩ࠺࡯࠲೉ (d)ߪಣℂߒߚ GPSᣇ૏ⷺ ࠺࡯࠲೉ ... 27

࿑ 3.7 (a)㝼⌒ࠞࡔ࡜ߩࡇ࠶࠴(x)㧘࡛࡯(y)ߣ ࡠ࡯࡞(z)ⷺᐲߩ⋧㑐ଥᢙߩ⸘▚⚿ᨐ(b) 㧟ߟߩ⋧㑐ଥᢙߩਸ਼Ⓧߢ⴫ߔ࿁ォో૕ߩ⋧㑐ଥᢙߩ⚿ᨐ㧚 ... 28

࿑ 3.8 ੑߟ㝼⌒ࠞࡔ࡜ࠍหᦼߒߡ૞ᚑߒߚోᄤ๟↹௝㧚(a)หᦼ೨ߩวᚑోᄤ๟↹௝ (b)หᦼᓟߩోᄤ๟↹௝ ... 29

࿑3.9 (a)㝼⌒ࠞࡔ࡜ߣᘠᕈ࠮ࡦࠨ࡯ߩࡇ࠶࠴(x)㧘࡛࡯(y)ߣ ࡠ࡯࡞(z)ⷺᐲߩ⋧㑐ଥᢙ ߩ⸘▚⚿(b)㧟ߟߩ⋧㑐ଥᢙߩਸ਼Ⓧߢ⴫ߔ࿁ォో૕ߩ⋧㑐ଥᢙߩ⚿ᨐ ... 30

࿑3.10 㝼⌒ోᄤ๟↹௝ߩᱡߺߩ⵬ᱜ⚿ᨐ... 31

࿑3.11 (a)GPS࠮ࡦࠨ࡯ߩᣇ૏ⷺߣోᄤ๟↹௝೉ߩ࡛࡯ⷺߩ⋧㑐ଥᢙߩ⸘▚⚿ᨐ (b) ోᄤ๟↹௝೉ࠍ࡝ࠨࡦࡊ࡝ࡦࠣߒߚ⚿ᨐ ... 31

࿑3.12 Googleࡑ࠶ࡊߢࠢ࡝࠶ࠢߒߚ૏⟎ߩోᄤ๟↹௝ߩࠨࡦࡊ࡞ ... 32

࿑4.1 㝼⌒ࠞࡔ࡜߆ࠄ૞ᚑߔࠆోᄤ๟↹௝ߩ૛ಽ㗔ၞߣ㊀ߥࠆ㗔ၞ ... 35

࿑4.2 ᱜ20㕙૕߆ࠄߩ᷹࿾࠼࡯ࡓಽഀㆊ⒟ ... 36

࿑4.3 (a) ⚻✲ᐲࠍ⴫ߒߚ⃿㕙↹௝ߣዷ㐿ߐࠇߚ⚻✲ࡑ࠶ࡊ (b) ⃿㕙↹௝ߣࠠࡘ࡯ࡉࡑ࠶ࡊ ... 37

࿑4.4 SCVT↹௝ࠍ㧡ߟߩᐔⴕ྾ㄝᒻߣߒߡ⴫ߔ࠺࡯࠲᭴ㅧ ... 38

࿑4.5 ᷹࿾࠼࡯ࡓಽഀߢᓧࠄࠇߚ㗂ὐ߆ࠄߥࠆ2ᰴరSCVT㈩೉ ... 39

iv

࿑4.6 ࠦࡦࡄࠢ࠻㧞D⍱ᒻ㈩೉ߢ⴫ߔ⃿㕙↹௝ࡈࠜ࡯ࡑ࠶࠻SIFߩ᭴ᚑߔࠆᚻ㗅 ... 45

࿑4.7 SIFߢ⴫⃻ߒߚోᄤ๟↹௝ ... 46

࿑4.8 ㅘⷞ↹௝⴫␜ߣ㝼⌒↹௝ߣߩ㑐ଥ ... 47

࿑4.9 (a)ᓥ᧪ᚻᴺߢ૞ᚑߒߚ6㕙ߩㅘⷞ↹௝(b)ឭ᩺ᚻᴺߢSIF↹௝߆ࠄ↢ᚑߐࠇߚ 6㕙ߩㅘⷞ↹௝ ... 49

࿑5.1 ᧄ⎇ⓥߢ⸃᳿໧㗴ߩ⇛࿑. ... 52

࿑5.2 ࠻࡛࠲␠ߩࡈࡠࡦ࠻ࡕ࠾࠲࡯ߩᤋ௝ ... 52

࿑ 5.3 (a)ㆇേጁᱧ↹௝(MHI). (b) ᤨ㑆⊛ㆇേጁᱧ↹௝ (tMHI). (c) ឭ᩺ᚻᴺ: ࡃࠗ ࠽࡝ㆇേጁᱧ↹௝(BMHI). એ਄ߔߴߡߩㆇേጁᱧ↹௝↹௝ߪㅪ⛯ 16 ࡈ࡟࡯ ࡓߩᏅಽ↹௝߆ࠄ᭴ᚑߐࠇߡ޿ࠆ. ... 53

࿑5.4 ஥㕙߆ࠄធㄭゞਔࠍᬌ಴ᚻᴺ ... 56

࿑5.5 ᧄᚻᴺߩಣℂᵹࠇ ... 56

࿑5.6 (a) BMHI↹௝ (b) BMHI↹௝ߩ㗔ၞಽഀ⚿ᨐ ... 57

࿑5.7 ಽഀ㗔ၞਛᔃࠍࡆ࠶࠻ಽߌߡ⸘▚ߒߚ⚿ᨐ ... 58

࿑5.8 ㆇേ㗔ၞಽഀߣផቯᣇะࠍᲧߴߚ⚿ᨐ ... 59

⴫ ⋡ ᰴ

⴫4.1 SCVT㈩೉ߩㅪធὐ૏⟎ ... 42

⴫4.2 ಣℂᤨ㑆ࠍᲧߴߚ⚿ᨐ ... 48

⴫5.1 D(x,y,t)㧘tMHI߅ࠃ߮BMHIߩߘࠇߙࠇߩ․ᓽ ... 55

⴫5.2 ಣℂᤨ㑆ࠍᲧߴߚ⚿ᨐ ... 60

1

╙৻┨ ᐨ⺰

1.1 ᧄ⺰ᢥߩ⢛᥊

ㄭᐕ㧘ゞਔߦߪࠞࡔ࡜㧘࡟࡯࠳ߥߤߩ᭽ޘߥ࠮ࡦࠨ࡯߇៞タߐࠇ㧘ゞߩ๟ࠅߩⅣႺ⹺⼂

߿ゞߩ⁁ᘒᛠីߥߤㆇォᡰេࠪࠬ࠹ࡓ[1-4]߇ታ↪ൻߐࠇߡ޿ࠆ㧚ゞタࠞࡔ࡜ߪ࡟࡯࠳ߥߤ

߶߆ߩ࠮ࡦࠨ࡯ࠃࠅᖱႎ㊂߇ᄙߊ㧘๟ࠅߩ㓚ኂ‛㧘ㆇേ‛૕㧘ᱠⴕ⠪㧘ゞ㧘ゞ✢ߥߤ᭽ޘ ߥᖱႎࠍ⹺⼂ߒߡಽᨆߔࠆߎߣ߇ߢ߈ࠆ㧚․ߦ㧘㝼⌒ࠞࡔ࡜ߪߘߩ180ᐲએ਄ߣ޿߁ᐢ޿

↹ⷺ߆ࠄ㧘ゞਔߩ๟ㄝ⋙ⷞࠍߒ߿ߔߊ㧘ᐢߊ↪޿ࠄࠇߡ޿ࠆ᠟ᓇⵝ⟎ߢ޽ࠆ㧚ߎࠇߦࠃࠅ ዋߥ޿บᢙߩ㝼⌒ࠞࡔ࡜ߢ๟࿐ߩⅣႺᖱႎࠍ₪ᓧߔࠆߎߣ߇น⢻ߢ޽ࠆ㧚

ゞタࠞࡔ࡜ᤋ௝߆ࠄㆇォࠍᡰេߔࠆߚ߼ߦੱޘߦಽ߆ࠅ߿ߔ޿㆏〝࿾࿑ߩឭଏ߇㊀ⷐ

⺖㗴ߩ৻ߟߢ޽ࠆ㧚৻⥸⊛ߥ㆏〝࿾࿑ߢߪ✢ࠍ૶ߞߡᐔ㕙ᐞ૗ᒻ⁁ߢ〝✢ᖱႎࠍ⴫␜ߒߡ

޿ࠆ߇㧘ੱ㑆ߩਥߥ⹺⼂ߪ⃻࿾ߩⷞⷡᖱႎߢ޽ࠆ㧚଀߃߫ࠞ࡯࠽ࡆࠥ࡯࡚ࠪࡦߥߤߢߪࠦ

ࡦࡇࡘ࡯࠲ࠣ࡜ࡈࠖ࠶ࠢ㧔CG㧕ߦࠃࠅ૞ᚑߒߚᤋ௝ߢ⃻࿾ⷞⷡᖱႎࠍ⴫⃻ߒߡ޿ࠆ㧚ߒ߆ ߒ㧘⃻ታᗵߩ㜞޿઒ᗐⓨ㑆ࠍ↢ᚑߔࠆߩ߇࿎㔍ߢ޽ࠆ㧚ߒߚ߇ߞߡ㜞ᐲߥ࿾࿑ᖱႎߦၒ߼

ㄟ߹ࠇߚੱ㑆ߦಽ߆ࠅᤃ޿㆏〝࿾࿑ࠍ᭴▽ߔࠆᔅⷐ߇޽ࠆ㧚଀ߣߒߡGoogle ࡑ࠶ࡊ ࠬ࠻

࡝࡯࠻ࡆࡘ࡯࠷࡯࡞ߪ࿑2.4㧔c㧕ߩࠃ߁ߥోᄤ๟ࠞࡔ࡜߆ࠄ૞ᚑߒߚ઒ᗐⓨ㑆↹௝ߢ㆏〝

࿾࿑ࠍ⴫␜ߔࠆ㧚ߒ߆ߒ㧘ߎߩ࿾࿑⊓㍳૞ᬺߩ⹦⚦߇౏㐿ߐࠇߡ޿ߥ޿㧚߹ߚ㧘࡙࡯ࠩ࡯

߇⥄ಽߩゞߦ៞タߐࠇߡ޿ࠆࠞࡔ࡜ߢ◲නߦ࿾࿑⊓㍳ߢ߈ࠇ߫㧘ߘࠇߙࠇ୘ੱߩ࠾࡯࠭ߦ วࠊߖߚ㆏〝࿾࿑ࠍ૞⵾ߢ߈ࠆ㧚ߘߩߚ߼㧘㆏〝࿾࿑⊓㍳ߩ⥄േൻ߇㊀ⷐߢ޽ࠆ㧚ᧄ⺰ᢥ ߢߪ㧘ోᄤ๟ࠞࡔ࡜㧘ᘠᕈ࠮ࡦࠨ࡯㧘GPSࠍ↪޿ߚోᄤ๟↹௝㆏〝࿾࿑⊓㍳ߩᚻᴺࠍឭ᩺

ߔࠆ㧚

ࠦࡦࡇࡘ࡯࠲ࠣ࡜ࡈࠖ࠶ࠢߩઍࠊࠅߦ㧘㧞ߟߩ෻ኻะ߈ߩ㝼⌒ࠞࡔ࡜߆ࠄวᚑߒߚోᄤ

๟↹௝ߢ⃻ታᗵߩ㜞޿઒ᗐⓨ㑆ࠍታ⃻ߢ߈ࠆ㧚ᄢⷙᮨ㆏〝࿾࿑ࠍ᭴▽ߔࠆߚ߼㧘ࠞࡔ࡜ᤋ

௝㧘GPS㧘ᘠᕈ࠮ࡦࠨ࡯ߥߤ᭽ޘߥ࠮ࡦࠨ࡯ߩหᦼಣℂ߇ᔅⷐߣߥࠆ㧚ኾ㐷ߩⵝ⟎ߢหᦼ ߒߚ࠺࡯࠲ࠍᓧࠆߎߣߪߢ߈ࠆ߇㧘ታ㛎ࠦࠬ࠻߇㜞޿߹ߚߪⵝ⟎ߩᄌᦝ߇࿎㔍ߢ޽ࠅ㧘ߘ ࠇߙࠇ⁛┙ߦ⸥ᙘߐࠇࠆߣⶄᢙ⒳㘃ߩ࠮ࡦࠨ࡯ࠍหᦼߔࠆᔅⷐ߇޽ࠆ㧚ห⒳㘃࠮ࡦࠨ࡯ߩ 㑆ߪᄙߊߩ౒ㅢᖱႎ߇޽ࠅ㧘ߘࠇࠍ೑↪ߒߡหᦼߢ߈ࠆ㧚଀߃߫ⶄᢙࠞࡔ࡜㑆ߩ౒ㅢ↹௝

㗔ၞࠍㅢߓߡหᦼߢ߈ࠆ㧚⇣⒳㘃ߩ࠮ࡦࠨ࡯ߩ႐วߦᣂߒ޿หᦼᣇᴺ߇ᔅⷐߣߥࠆ㧚

৻ᣇ㧘ోᄤ๟↹௝ࠍ᭴ᚑߔࠆ㝼⌒↹௝ߪ㧘᠟௝ࠞࡔ࡜ߩౝㇱࡄ࡜ࡔ࡯࠲ߣᄖㇱࡄ࡜ࡔ࡯

࠲ࠍ↪޿ߡ⃿㕙↹௝ߦ౮௝ߔࠆߎߣ߇ߢ߈ࠆ㧚ోᄤ๟↹௝ߩ଻ሽ▤ℂߩ㓙ߦߪ᠟௝ߐࠇߚ 㝼⌒↹௝ߩ଻ሽߣోᄤ๟↹௝ࠍ⃿㕙ߦ౮௝ߒߡᓧࠆ⃿㕙↹௝ࠍ᦭ലߥ࠺࡯࠲᭴ㅧߢ⴫⃻ߐ ࠇߡ଻ሽߔࠆ2ߟߩᣇᴺ߇޽ࠆ㧚᠟௝㝼⌒↹௝ߩ଻ሽߦߪ↹௝એᄖߦࠞࡔ࡜ࡄ࡜ࡔ࡯࠲߇

ᔅⷐߣߥࠅ㧘↹௝ߩ㑆ߦ߽ᄙߊߩ౬㐳࠺࡯࠲߇౉ߞߡ޿ࠆߚ߼ోᄤ๟↹௝ߩ଻ሽ㧘ォㅍ㧘 ಣℂߦߪਇଢߢ޽ࠆ㧚⃿㕙↹௝ࠍ଻ሽߔࠆߦߪ᦭ലߥ࠺࡯࠲᭴ㅧߢ⃿㕙ਃᰴరᖱႎࠍ⴫⃻

ߢ߈ࠆ⃿㕙↹௝ࡈࠜ࡯ࡑ࠶࠻߇ᔅⷐߢ޽ࠆ㧚଀߃߫㧘⃿㕙↹௝࠺࡯࠲ࠍ㓏ጀ⊛ߥᧁ᭴ㅧߢ

⴫ߔᚻᴺ߇ឭ᩺ߐࠇߡ޿ࠆ߇㧘㗂ὐߩ㓞ធᖱႎ߇ᄬࠊࠇࠆᰳὐ߇޽ࠆ㧚߹ߚ㧘⃿㕙↹௝࠺

࡯࠲ࠍਃᰴర㈩೉࠺࡯࠲᭴ㅧߢ⴫ߔᚻᴺ߽ឭ᩺ߐࠇߡ޿ࠆ߇㧘⃿㕙↹௝ߩ↹⚛ߩត⚝ߪ 3

ᰴరߩ࠺࡯࠲ⓨ㑆ߢⴕ߁ᔅⷐߢ޽ࠆ㧚

ゞタࠞࡔ࡜ᤋ௝ߦࠃࠆㆇォᡰេߦ߅ߌࠆ߽߁৻ߟߩ㊀ⷐߥ⺖㗴ߪⅣႺߩ⹺⼂ߢ޽ࠆ㧚੤

Ꮕὐߦ߅ߌࠆᄙߊߩ੤ㅢ੐᡿ߪ㧘ㆇォ⠪߇஥㕙߆ࠄធㄭߔࠆゞਔߦචಽߦᵈᗧࠍᛄࠊߥ߆ ߞߚߚ߼ߦ⿠ߎߞߡ޿ࠆ㧚⁜޿㆏〝߆ࠄାภ߇ߥ޿੤Ꮕὐߦ౉ࠆᤨ㧘ㆇォ⠪ߪゞࠍࠁߞߊ ࠅ⒖േߒߥ߇ࠄ஥㕙߆ࠄធㄭߔࠆゞਔࠍᵈᗧߔࠆᔅⷐ߇޽ࠆ㧚․ߦ๟ࠅߦᑪ‛߇޽ࠆ႐ว ߦ㧘஥㕙߆ࠄߩធㄭゞਔࠍᱜ⏕ߦᛠីߔࠆߩ߇࿎㔍ߢ޽ࠆ㧚৻ᣇ㧘⥄ゞ૕ߩ೨ᣇߦ㝼⌒ࠞ

ࡔ࡜ࠍขࠅઃߌࠇ߫㧘ߘߩᐢ޿ⷞ㊁ߢ੤Ꮕὐߩ⁁ᴫࠍ᷹ⷰߢ߈ࠆ㧚ߘߩᤋ௝߆ࠄ㜞ㅦ߆ߟ 㜞♖ᐲߥ஥㕙߆ࠄធㄭߔࠆゞਔࠍᬌ⍮ߢ߈ࠇ߫㧘੤ㅢ੐᡿ߩᷫዋߦߟߥ߇ࠆ㧚േ‛૕ߩᬌ

಴ߦߪ㧘ㆇേጁᱧ↹௝߇ࠃߊ↪޿ࠄࠇߡ޿ࠆ㧚ߒ߆ߒ㧘ᓥ᧪ߩㆇേጁᱧ↹௝ߪ㧘೨ᤨೞߩ ㆇേᖱႎ߇ᓟߩᤨೞߩㆇേᖱႎߦ਄ᦠ߈ߐࠇࠆน⢻ᕈ߇޽ࠆ㧚߹ߚ㧘੤Ꮕὐߦ߅ߌࠆធㄭ ゞਔࠍᬌ಴ߔࠆ㓙ߦߪ㧘⥄ゞਔ߽ࠁߞߊࠅ੤Ꮕὐߦㅴ౉ߔࠆน⢻ᕈ߇޽ࠆߚ߼ߦ㧘ធㄭゞ ਔࠍⶄ㔀ߥ⢛᥊ㆇേ߆ࠄᬌ಴ߔࠆᔅⷐ߇޽ࠆ.

ᧄ⺰ᢥߢߪ㧘ోᄤ๟↹௝㆏〝࿾࿑⊓㍳෸߮੤Ꮕὐߦ߅ߌࠆធㄭゞਔᬌ಴ߦ⌕⋡ߒߡ㧘⎇

ⓥࠍⴕߞߡ޿ࠆ㧚

1.2 ᧄ⺰ᢥߩ⋡⊛

ᧄ⺰ᢥߢゞタ㝼⌒ࠞࡔ࡜ࠍ↪޿ߡㆇォᡰេࠍ⋡ᜰߒߡ㧘ోᄤ๟↹௝㆏〝࿾࿑⊓㍳෸߮੤

Ꮕὐߦ߅ߌࠆធㄭゞਔᬌ಴ߦ㑐ߔࠆᚻᴺࠍឭ᩺ߔࠆ㧚ోᄤ๟↹௝㆏〝࿾࿑⊓㍳ࠍታ⃻ߔࠆ ߚ߼ߦߪએਅߩ⺖㗴߇᜼ߍࠄࠇࠆ㧚

l ⁛┙ߦ᠟ࠄࠇߚ㝼⌒ࠞࡔ࡜↹௝೉㧘GPS㧘ᘠᕈ࠮ࡦࠨ࡯࠺࡯࠲ߩหᦼ

ᧄ⺰ᢥߢߪゞߦ៞タߒߚ㧘ߘࠇߙࠇ⁛┙ߦ⸥ᙘߐࠇࠆ㝼⌒↹௝೉ߣᘠᕈ࠮ࡦࠨ࡯

߅ࠃ߮ GPS ࠺࡯࠲ࠍㆇേᖱႎߦࠃࠅหᦼߔࠆᚻᴺࠍឭ᩺ߔࠆ㧚ⶄᢙߩ࠮ࡦࠨ࡯ߪ หߓゞߦ៞タߒߡ޿ࠆߚ߼หߓㆇേᖱႎࠍᜬߜ㧘↹௝߆ࠄࠞࡔ࡜ߩㆇേࠍផቯߦࠃ ࠅหᦼߔࠆ㧚

l ోᄤ๟↹௝ߩ⴫⃻ᴺ

ᧄ⺰ᢥߢ᷹࿾࠼࡯ࡓ᭴ㅧߦၮߠߊࠦࡦࡄࠢ࠻ߥੑᰴర㈩೉ߩ⃿㕙↹௝ߩࡈࠜ࡯

ࡑ࠶࠻ࠍឭ᩺ߔࠆ㧚ߘߩ⃿㕙↹௝ߩࡈࠜ࡯ࡑ࠶࠻ߦࠃࠅ౬㐳࠺࡯࠲ࠍߥߊߒ㧘ੑᰴ

ర㈩೉ߣߒߡ㧘⃿㕙↹௝ࠍᛒ߁ߎߣ߇ߢ߈ࠆ㧚

3

߽߁৻ߟߩ⋡ᮡߪ⥄ゞ૕೨ᣇߩ㝼⌒ࠞࡔ࡜ᤋ௝߆ࠄ੤Ꮕὐߢߩ஥㕙߆ࠄߩゞਔࠍᬌ಴

ߢ޽ࠆ㧚ߎࠇࠍታ⃻ߔࠆߚ߼ߦߪએਅߩ⺖㗴߇᜼ߍࠄࠇࠆ㧚 l േ‛૕ߩታᤨ㑆ᬌ಴

േ‛૕ᬌ಴ߦߪ᭽ޘߥࠕ࡞ࠧ࡝࠭ࡓ߇ឭ᩺ߐࠇߡ޿ࠆ߇㧘ㆇォ⵬ഥߦߪࠕ࡞ࠧ࡝

࠭ࡓߩᣧ޿ಣℂㅦᐲߣᬌ಴♖ᐲ߇ⷐ᳞ߐࠇࠆ㧚ᧄ⺰ᢥߢߪᓥ᧪ߩㆇേጁᱧ↹௝ߦ⿠

ߎࠆㆇേ㗔ၞᶖᄬ໧㗴ࠍస᦯ߢ߈ࠆࡃࠗ࠽࡝ㆇേጁᱧ↹௝ߣ๭߫ࠇࠆേ‛૕ᬌ಴

ᚻᴺࠍឭ᩺ߔࠆ㧚ឭ᩺ᚻᴺߢߪ㧘ㆇേጁᱧᖱႎࠍቢోߦ଻ሽߢ߈㧘ᦝߦࡆ࠶࠻ࠪࡈ

࠻Ṷ▚ߢ㜞ㅦಣℂࠍታ⃻ߢ߈ࠆߚ߼ߦ㧘ᓥ᧪ᴺࠃࠅ᦭ല߆ߟ㜞ㅦߦㆇേࠍ⸃ᨆߢ߈ ࠆ㧚

l ⶄ㔀ߥ⢛᥊ㆇേ߆ࠄ஥㕙ធㄭゞਔߩᬌ಴

㝼⌒↹௝ߢ⥄ゞਔߣធㄭߔࠆゞਔߩㆇേᣇะ߇෻ኻߢ޽ࠆ․ᓽࠍ೑↪ߒߡ஥㕙 ߆ࠄߩធㄭゞਔᬌ಴ᚻᴺࠍឭ᩺ߔࠆ㧚

1.3 ᧄ⺰ᢥߩ᭴ᚑ

ᧄ⺰ᢥߩ᭴ᚑߪᰴߩㅢࠅߢ޽ࠆ㧚

╙৻┨ ᐨ⺰

╙ੑ┨ ৻ኻߩ㝼⌒ࠞࡔ࡜ߦࠃࠆోᄤ๟↹௝ߩ₪ᓧ

╙ਃ┨ ోᄤ๟↹௝㆏〝࿾࿑⊓㍳ߩߚ߼ߩหᦼ໧㗴

╙྾┨ ోᄤ๟↹௝ߩ⴫⃻ᴺ

╙੖┨ ࡃࠗ࠽࡝ㆇേጁᱧ↹௝ߦࠃࠆ੤Ꮕὐߦ߅ߌࠆ஥㕙߆ࠄߩធㄭゞਔߩᬌ಴

╙౐┨ ⚿⺰

╙৻┨ߪᐨ⺰ߢ޽ࠅ㧘ᧄ⎇ⓥߩ⢛᥊ߣ⋡⊛ߦߟ޿ߡㅀߴࠆ㧚

╙ੑ┨ߢߪᧄ⺰ᢥߢ↪޿ࠆ㝼⌒ࠞࡔ࡜ߩ⃿㕙ᛩᓇࡕ࠺࡞ߣ㝼⌒↹௝߆ࠄోᄤ๟⃿㕙↹

௝ࠍ₪ᓧߔࠆᚻᴺߦߟ޿ߡㅀߴࠆ㧚߹ߕ㧘⃿㕙ᛩᓇࡕ࠺࡞ߣ৻⥸⊛ߥㅘⷞᛩᓇࡕ࠺࡞ߩᲧ セ㧘㝼⌒࡟ࡦ࠭ߢ᠟ᓇߒߚ↹௝ߣ⃿㕙↹௝ߣߩኻᔕ㑐ଥߦߟ޿ߡㅀߴࠆ㧚ᰴߦ㧘↹௝ᱡߺ ࠍ฽߻㝼⌒ࠞࡔ࡜ߩౝㇱࡄ࡜ࡔ࡯࠲ᩞᱜᚻᴺߦࠃࠅ෻ኻะ߈ߩ৻ኻߩߘࠇߙࠇඨ⃿ⷞ㊁ࠍ

߽ߟ㝼⌒ࠞࡔ࡜ߩ↹௝ࠍធวߔࠆߣ޿߁ࠪࡦࡊ࡞ߥࠕࠗ࠺ࠕߦၮߠ߈ోᄤ๟⃿㕙↹௝ࠍ₪

ᓧߔࠆᚻᴺߦߟ޿ߡㅀߴࠆ㧚

╙ਃ┨ߢߪోᄤ๟↹௝㆏〝࿾࿑૞ᚑߩߚ߼ߦឭ᩺ߒߚหᦼᚻᴺߦߟ޿ߡㅀߴࠆ㧚߹ߕߪ

㑐ㅪ⎇ⓥߦߟ޿ߡㅀߴࠆ㧚ᰴߦੑߟߩ↹௝೉߆ࠄࠞࡔ࡜ߩㆇേᖱႎࠍផቯߒߡߘߩੑߟߩ

↹௝೉ߩหᦼᤨೞࠍផቯߔࠆᚻᴺߦߟ޿ߡㅀߴࠆ㧚ᰴߦᘠᕈ࠮ࡦࠨ࡯ߩ࿁ォⷺㅦᐲࠃࠅో

ᄤ๟↹௝೉ߣߩหᦼߦߟ޿ߡㅀߴࠆ㧚ᓟߦGPSߩᣇ૏ⷺᐲߦࠃࠅోᄤ๟↹௝೉ߣߩหᦼߒ㧘

࡝ࠨࡦࡊ࡝ࡦࠣߒߡ࿾࿑߳ߩ⊓㍳ߦߟ޿ߡㅀߴࠆ㧚ᦨᓟߦታ㛎ߣ⚿ᨐࠍ߹ߣ߼ࠆ㧚

╙྾┨ߢߪឭ᩺ߒߚోᄤ๟⃿㕙↹௝ߩࡈࠜ࡯ࡑ࠶࠻ߦߟ޿ߡㅀߴࠆ㧚ߪߓ߼ߦ⃿㕙↹௝

ࡈࠜ࡯ࡑ࠶࠻ߦߟ޿ߡߩ㑐ㅪ⎇ⓥࠍ⚫੺ߔࠆ㧚ᰴߦឭ᩺ߔࠆ⍱ᒻੑᰴర㈩೉ߢ⴫⃻ߒߚ⃿

㕙↹௝ࡈࠜ࡯ࡑ࠶࠻ߩ᭴ᚑ෸߮◲⚛ൻ㓞ធὐࠍតߔࠕ࡞ࠧ࡝࠭ࡓߦߟ޿ߡㅀߴࠆ㧚ߐࠄߦ㧘 ឭ᩺ߐࠇࠆ⃿㕙↹௝ࡈࠜ࡯ࡑ࠶࠻ߦࠃࠅోᄤ๟↹௝߆ࠄㅘⷞ↹௝ࠍ㜞ㅦߦ↢ᚑߔࠆߦߟ޿

ߡㅀߴࠆ㧚ᦨᓟߪታ㛎⚿ᨐߦߟ޿ߡㅀߴࠆ㧚

╙੖┨ߢߪឭ᩺ࡃࠗ࠽࡝ㆇേጁᱧ↹௝ߦࠃࠆ੤Ꮕὐߦ߅ߌࠆ஥㕙߆ࠄߩធㄭゞਔߩᬌ

಴ᚻᴺߦߟ޿ߡㅀߴࠆ㧚߹ߕ㧘ᓥ᧪ߩㆇേጁᱧ↹௝ߣᲧߴߡࡃࠗ࠽࡝ㆇേጁᱧ↹௝ࠍ⺑᣿

ߔࠆ㧚ᰴߦឭ᩺ᚻᴺߦࠃࠅ↹௝਄ߩㆇേ㗔ၞࠍᬌ಴ߒߡㆇേᣇะࠍផቯߔࠆࠕ࡞ࠧ࡝࠭ࡓ ߦߟ޿ߡㅀߴࠆ㧚ᰴߦㆇേ㗔ၞߩㆇേᣇะߣ⥄ゞ૕ߩㆇേࠃࠅ↢ߓࠆ⢛᥊ㆇേᣇะࠍᲧߴ ߡ஥㕙߆ࠄߩធㄭゞਔߩ㗔ၞࠍ᳿߼ࠆᚻᴺߦߟ޿ߡㅀߴࠆ㧚ᦨᓟߪᓥ᧪ߩㆇേጁᱧ↹௝ߣ Ყߴߚታ㛎ߣ⚿ᨐߦߟ޿ߡㅀߴࠆ㧚

╙౐┨ߪ߹ߣ߼ߢ޽ࠆ㧚એ਄ߩ⎇ⓥࠍ✚᜝ߒ㧘ᱷߐࠇߚ⺖㗴ߦߟ޿ߡㅀߴࠆ㧚

5

ෳ⠨ᢥ₂

[1] http://www.honda.co.jp/tech/auto/mvcs/

[2] http://www2.toyota.co.jp/jp/tech/safety/technologies/active/cornering_assist.html [3] http://www2.toyota.co.jp/jp/tech/safety/technologies/active/monitoring.html [4] http://www2.toyota.co.jp/jp/tech/safety/technologies/active/radar.html

╙ੑ┨ ৻ኻߩ㝼⌒ࠞࡔ࡜ߦࠃࠆోᄤ๟↹௝ߩ₪ᓧ

ోᄤ๟↹௝ߪゞߩ๟࿐ߩᖱႎࠍᱫⷺߥߊ₪ᓧߔࠆߚ߼ߦ᦭ലߥᚻᲑߢ

޽ࠆ㧚ᧄ⺰ᢥߢߪ㧘 ৻ኻߩ180ᐲએ਄ߩⷞ㊁ࠍᜬߟ㝼⌒ࠞࡔ࡜ࠍ↪޿ߡ ೨ᓟ㧞ᣇะߩ↹௝ࠍធวߔࠆߣ޿߁ࠪࡦࡊ࡞ߥࠕࠗ࠺ࠕߦၮߠ߈ోᄤ๟

↹௝ࠍ₪ᓧߔࠆ㧚ᧄ┨ߢߪ⃿㕙ᛩᓇࡕ࠺࡞ߦၮߠ޿ߡ㝼⌒↹௝߆ࠄోᄤ๟

↹௝[1-3]ࠍ₪ᓧߔࠆᚻᴺߦߟ޿ߡㅀߴࠆ㧚

2.1 ⃿㕙ᛩᓇࡕ࠺࡞

ㅢᏱߩᐔ㕙↹௝ߪ㧘࡟ࡦ࠭߳ߩ౉኿శࠍᐔ㕙ࠬࠢ࡝࡯ࡦߦㅘⷞᛩᓇߐߖߡᓧࠄࠇࠆࠗ

ࡔ࡯ࠫߢ޽ࠅ㧘ߘߩㅘⷞᛩᓇߪ㧘৻⥸⊛ߦ࿑ 2.1 ߦ␜ߔࠃ߁ߥࡇࡦࡎ࡯࡞ࠞࡔ࡜ࡕ࠺࡞

ߦࠃࠅ⺑᣿ߐࠇࠆ㧚ࠞࡔ࡜ᐳᮡ♽ߩේὐࠍࡇࡦࡎ࡯࡞ߦ⟎߈㧘ߘߩ㨦ゲ߇శゲߣ㊀ߥࠆ㧚

ࠪ࡯ࡦౝߩⓨ㑆ὐP߆ࠄߩశ✢ߪࡇࡦࡎ࡯࡞ࠍㅢࠅ↹௝ᐔ㕙਄ߩ૏⟎P̡ߦ௝ࠍ⚿߱㧚 ߎߎߢ↹௝ᐔ㕙ߣࡇࡦࡎ࡯࡞ߩ㑆ߩ〒㔌ࠍࠞࡔ࡜ߩὶὐ〒㔌f (focal length)㧘శゲߣ↹௝

ᐔ㕙ߣߩ੤ὐcࠍశゲὐ(optical center)߹ߚߪਥὐ(principal point)ߣ޿߁㧚

࿑2.1ࡇࡦࡎ࡯࡞ࠞࡔ࡜ࡕ࠺࡞ߩㅘⷞᛩᓇ P̡

ri

c

P O Z

X

f Y ǰ

8

ߎߩࡇࡦࡎ࡯࡞ࠞࡔ࡜ߦࠃࠆ኿ᓇߪਛᔃ኿ᓇ㧘߹ߚߪㅘⷞᛩᓇࡕ࠺࡞ߣ๭߫ࠇ㧘ࠞࡔ

࡜ߩᛩᓇࠍ⺑᣿ߔࠆߚ߼ߦ৻⥸⊛ߦ↪޿ࠄࠇߡ߅ࠅ㧘ᓥ᧪ߩࠞࡔ࡜ᩞᱜᚻᴺߩᄙߊߪߎ ߩ኿ᓇࡕ࠺࡞ߦၮߠ޿ߡ޿ࠆ㧚ߎߩ኿ᓇࡕ࠺࡞ߪ৻⥸⊛ߥ⁜޿ⷞ㊁ߩࠞࡔ࡜ࠍ⺑᣿ߔࠆ ߩߦߪචಽߢ޽ࠆ߇㧘180 ᐲએ਄ߩⷞ㊁ࠍᜬߟ㝼⌒ࠞࡔ࡜ߩⷞ㊁ో૕ߩᖱႎࠍᛒ߁ߎߣ ߇ߢ߈ߥ޿㧚

৻ᣇ㧘⃿㕙↹௝[4]ߪ㧘࡟ࡦ࠭߳ߩ౉኿శࠍ㧘ὶὐࠍਛᔃߣߔࠆ⃿㕙⁁ߩ↹௝㕙਄ߦᛩ ᓇߐߖࠆߎߣߢᓧࠄࠇࠆࠗࡔ࡯ࠫߢ޽ࠅ㧘ోᄤ๟⃿㕙↹௝ߪ᠟ᓇ࿾ὐ߆ࠄ⷗߃ߡ޿ࠆ๟

࿐ోߡߩὐࠍห৻⃿㕙਄ߦᛩᓇߔࠆߎߣߢᓧࠄࠇࠆࠗࡔ࡯ࠫߢ޽ࠆ㧚⃿㕙↹௝ߪᛩ኿ᣇ ะߦኻߒߡ╬ᣇᕈࠍ߽ߜ㧘ోߡߩᣇะߩᖱႎࠍ৻᭽ߦᛒ߁ߎߣ߇ߢ߈ࠆోᄤ๟⃿㕙↹௝

ߪ㧘๟࿐ࠍขࠅᏎߊⅣႺࠍ⴫⃻ߔࠆߩߦㆡߒߡ޿ࠆ㧚․ߦⅣႺࡑ࠶ࡊ߳ߩ೑↪ߩⷰὐߢ ߪ㧘ోᄤ๟⃿㕙↹௝ߪ᠟ᓇ࿾ὐߦኻߒߡ๟࿐ߩⅣႺ߆ࠄ᡼኿ߐࠇߡ߈ߡ޿ࠆశࠍోᣇะ ߦߟ޿ߡ⸥㍳ߒߚ߽ߩߣߺߥߔߎߣ߇ߢ߈ࠆߚ߼㧘ోᄤ๟⃿㕙↹௝ࠍ₪ᓧߔࠆߎߣߪ๟

࿐ߩశⅣႺࠍ₪ᓧߔࠆߎߣߦ❬߇ࠆ㧚⃿㕙ᛩᓇࡕ࠺࡞ߦၮߠߊᛩᓇߦࠃߞߡᓧࠄࠇࠆ↹

௝ߪ⃿㕙↹௝ߣ๭߫ࠇࠆ㧚

⃿㕙ᛩᓇߪ㧘࿑2.2ߦ␜ߔࠃ߁ߦ㧘ⓨ㑆ߦඨᓘfߩ⃿ߣⓨ㑆ὐP߇޽ࠆߣ߈㧘Pߣ⃿

ߩਛᔃࠍ⚿߱⋥✢߇⃿㕙ߣ੤ࠊࠆὐPsࠍ㧘ὐPߩ⃿㕙਄߳ߩᛩᓇὐߣߔࠆᛩᓇࡕ࠺࡞ߢ

޽ࠆ㧚ේὐࠍ⃿ߩਛᔃߦ߅޿ߚࠞࡔ࡜ᐳᮡ♽ߦ߅޿ߡ㧘ਃᰴరⓨ㑆਄ߩὐPߩᐳᮡ߇

[ X

_c

Y

_c

Z

_c

]

^T

P =

(2.1)

࿑2.2 ⃿㕙ᛩᓇࡕ࠺࡞ߩ⃿㕙ᛩᓇ

X

Z

Y P

Ps

ǰ

Ǿ O

ߢ޽ࠆߣ߈㧘ߎߩὐߩ⃿㕙↹௝߳ߩᛩᓇὐPsߩᐳᮡߪ㧘ᛩᓇశ✢ߩᣇะࠍ⴫ߔ㧞ߟߩⷺᐲ㧘 ᄤ㗂ⷺǰߣᣇ૏ⷺǾࠍ↪޿ߡ

[ ]

^T

s

f f f

P = sin q cos f sin q sin f cos q

^(2.2)

ߣᦠߌࠆߩߢ㧘ࠪ࡯ࡦߩὐPߣߘߩᛩᓇὐPsߣߩ㑐ଥߪ㧘

[ ]

[

c c c

]

^T

c c c

T s

Z Y X Z Y X

f

f f

f P

2 2 2

cos sin

sin cos

sin

+

= +

= q f q f q

(2.3)

ߣ⴫ߔߎߣ߇ߢ߈ࠆ㧚ߔߥࠊߜ㧘Psߪࠬࠤ࡯࡞ࡈࠔࠢ࠲ࠍ㒰ߌ߫Pߦ╬ߒ޿㧚

ታ㓙ߦ⃿㕙↹௝ࠍᛒ߁㓙ߦߪ㧘৻⥸ߦ᦭⋉ߥᖱႎߣߥࠆߩߪⓨ㑆ὐPߩᣇะࠍ⴫ߔ⃿㕙 ᐳᮡ(ǰ㧘Ǿ)ߢ޽ࠅ㧘ᛩᓇ㕙ߣߒߡᗐቯߒߚ⃿ߩඨᓘߦߪ⥝๧߇ή޿㧚ߘߎߢ㧘ᛩᓇ⃿㕙 ߩඨᓘࠍ f =1ߣߒߡ㧘න૏⃿߳ߩᛩᓇߢ޽ࠆᱜⷙൻᐳᮡ

[ ]

^T

P

s

= sin q cos f sin q sin f cos q

^(2.4)

ࠍ᥉ㅢߪ↪޿ࠆ㧚ߎߩࠃ߁ߦ⃿㕙ᛩᓇߪ㧘޽ࠆᣇะ߆ࠄ౉኿ߒߡ߈ߚశߩᛩᓇὐࠍ㧘ߘߩ ᣇะǰߣǾࠍ↪޿ߡ⴫ߔ⚛⋥ߥࡕ࠺࡞ߢ޽ࠆ㧚

࿑2.3 ╬〒㔌኿ᓇᣇᑼ

Z

Ǿ

X Ps

ǰ P

ri=fǰ

ǰ

Ǿi X C

Image

10

2.2 㝼⌒↹௝ߣ⃿㕙↹௝ߩኻᔕ

㝼⌒ࠞࡔ࡜ߢ᠟ᓇߒߚ↹௝߆ࠄ⃿㕙↹௝ࠍ₪ᓧߔࠆߚ߼ߦߪ㧘᠟ᓇ㝼⌒↹௝਄ߩ૏⟎

Piߣ⃿㕙↹௝਄ߩ૏⟎Psߣߩኻᔕࠍ⍮ࠆᔅⷐ߇޽ࠆ㧚ߎߩኻᔕߪ࡟ࡦ࠭ߩ኿ᓇᑼ߆ࠄᓧ ࠄࠇࠆ㧚㝼⌒࡟ࡦ࠭ߩ኿ᓇᑼߪ4⒳㘃[5]޽ࠆ߇㧘એਅߦ㝼⌒࡟ࡦ࠭ߩᦨ߽৻⥸⊛ߥ኿ᓇ ᣇᑼߢ޽ࠆ╬〒㔌኿ᓇ(equidistance projection)ߩᣇᑼߦࠃࠆ଀ࠍ␜ߔ㧔࿑2.3㧕㧚ࠪ࡯ࡦ߆ ࠄ࡟ࡦ࠭߳ߩᛩ኿✢ߩ(ǰ㧘Ǿ)ߣ㧘↹௝਄ߢ૏⟎Piߩ௝㜞

r

_i^{,ၮḰゲ㧔ㅢᏱߪ}xᐳᮡゲ㧕 ߆ࠄߩⷺᐲ

f

_iߦࠃߞߡ⸥ㅀߢ߈ࠆ㧚

ú û ê ù ë ú é û ê ù ë

= é ú û ê ù ë é

f q

f 0 1

0 f r

i

i (2.5)

ߎߎߢfߪ࡟ࡦ࠭ߩὶὐ〒㔌ߢ޽ࠆ㧚᠟ᓇ↹௝਄ߢߩὐ

(

^x_i^,y_i

)

^{ߣ⃿㕙↹௝਄ߩ૏⟎}Psߩᐳ

ᮡߩኻᔕߩ႐ว㧘㝼⌒ࠞࡔ࡜ߩశゲὐࠍ

(

^x_c^,y_c

)

^ߔࠆߣ

( r

_i

, f

_i

)

^ߪ

) ,

arctan(

) (

)

(

^{2 2}

c i c i i

c i c

i i

x x y y

y y x

x r

- -

=

- + -

=

f

^(2.6)

⃿㕙↹௝ᐳᮡPsߪ

ú û ê ù

ë

= é

f r f

r f

P

_s

sin r

ⁱ

cos f

_i

sin

ⁱ

sin f

_i

cos

ⁱ (2.7)

ߣߒߡᓧࠄࠇࠆ㧚

ታ㓙ߩ࡟ࡦ࠭ߪ⵾ㅧㆊ⒟ߢ⊒↢ߔࠆ⺋Ꮕߥߤߩᓇ㗀ߩߚ߼ߦ㧘ߘߩᛩᓇߪℂᗐ⊛ߥ኿

ᓇᑼߦᱜ⏕ߦߪᓥࠊߥ޿㧚ᢥ₂ [6]ߢߪ࡟ࡦ࠭ᱡߺࠍ⵬ᱜߔࠆ㝼⌒ࠞࡔ࡜ߩౝㇱࡄ࡜ࡔ

࡯࠲ߩផቯᚻᴺࠍឭ᩺ߒߡ޿ࠆ㧚ߎࠇߪ㧘࡟ࡦ࠭ᱡߺࠍ⵬ᱜߔࠆߦ᡼኿ᣇะᱡᦛ෼Ꮕ㧘 శゲὐߩߕࠇ㧘ធ✢ᣇะᱡᦛ෼Ꮕࠍ⠨ᘦߐࠇߡ޿ࠆ㧚

l ᡼኿ᣇะᱡᦛ෼Ꮕ㧔radial distortion㧕

ℂᗐ⊛ߥ኿ᓇᑼߢᛩ኿ⷺǰߦኻߒߡ✢ᒻ߿ਃⷺ㑐ᢙߢ⴫ߐࠇߡ߅ࠅ㧘ߎࠇࠍ࠹ࠗ࡜࡯

ዷ㐿ߒ㧘࠹ࠗ࡜࡯ዷ㐿ᑼߩฦ㗄ߩଥᢙk₁,k₃,k₅ࠍ↪޿ߡ᡼኿ᣇะᱡᦛ෼Ꮕߣ๭߫ࠇࠆ᡼

኿ᣇะߦᴪ߁ᱡࠍࡕ࠺࡞ൻߒߡ޿ࠆ㧚

5 5 3 3

1

q k q k q

k

r » + +

_(2.8)

l శゲὐߩߕࠇ

ታ㓙ߩ࡟ࡦ࠭ߩశゲߪᱜ⏕ߦ↹௝ਛᔃࠍㅢࠄߕ㧘ᄙዋߕࠇߡ޿ࠆ㧚᠟ᓇ↹௝ߢߩන૏

〒㔌޽ߚࠅߩxᣇะ㧘y ᣇะߩ↹⚛ᢙߩᲧǩߢశゲὐߩߕࠇࠍ⴫ߔߎߣߢᑼ㧔2.6㧕ࠍ

)) (

, arctan(

) (

)

(

^{2 2}

2

c i c i i

c i c

i i

x x y y

y y x

x r

- -

=

- + -

=

a f

a

(2.9)

ߣߒߡᦠ߈⋥ߔߎߣ߇ߢ߈ࠆ㧚

l ធ✢ᣇะᱡᦛ෼Ꮕ㧔decentering distortion㧕

ធ✢ᣇะᱡᦛ෼Ꮕߪశゲ߇↹௝ᐔ㕙ߦ⋥੤ߒߥ޿ߎߣߦ⿠࿃ߔࠆ㧘᡼኿ᣇะᱡᦛ෼Ꮕ ߣု⋥ߥᣇะߦ૞↪ߔࠆᱡߢ޽ࠆ㧚ᭂᐳᮡߦᑼ

) cos(

) sin(

) (

) sin(

3 ) cos(

3 ) (

2 1

2 2 2

1

i i

i i i

i i i

i i

r

r P r

P p

T

r P r

P p

T

f f

f f

f

» - +

D

+

» D

(2.10)

ߢ⴫ߔ㧚

਄⸥ߩ 3 ⒳㘃ߩᱡࠍ߹ߣ߼ߚ㝼⌒ࠞࡔ࡜ߩౝㇱࡄ࡜ࡔ࡯࠲ߪx_c,y_c,a,k₁,k₃,k₅,P₁,P₂ߢ޽ࠅ㧘

⃿㕙ᐳᮡ(ǰ㧘Ǿ)ߣ㧘↹௝਄ߢ૏⟎ࠍએਅߩᑼߢ⴫ߔ㧚

) (

)

5

(

5 3 3 1

i i

i r i

p T

p T r k

k k

f

f

f

q q

q

D +

=

D +

= +

+

(2.11)

ߎࠇࠄߩ㝼⌒ࠞࡔ࡜ߩౝㇱࡄ࡜ࡔ࡯࠲ࠃࠅඨ⃿એ਄ߩⷞ㊁ࠍᜬߟ㝼⌒࡟ࡦ࠭ߩᱡߺߩ⵬ᱜ ࠍⴕ߁㧚

2.3 ోᄤ๟↹௝ߩ૞ᚑ

ోᄤ๟↹௝ߪ㧘࿑2.4ߢ␜ߒߚࠃ߁ߦࡒ࡜࡯ࠍ೑↪ߒߚోᣇ૏ⷞⷡ࠮ࡦࠨ࡯[7,8]㧘੕

޿ߦⷞ㊁ࠍ⵬޿ว߁ⶄᢙߩࠞࡔ࡜[9,10]ߥߤߐ߹ߑ߹ߥⵝ⟎߆ࠄ₪ᓧߔࠆߎߣ߇ߢ߈ࠆ㧚 ᧄ⺰ᢥߢ෻ኻะ߈ߩ৻ኻߩ180ᐲએ਄ߩⷞ㊁ࠍᜬߟ㝼⌒ࠞࡔ࡜ߩ↹௝ࠍធวߔࠆߣ޿߁

ࠪࡦࡊ࡞ߥࠕࠗ࠺ࠕߦၮߠ߈ోᄤ๟⃿㕙↹௝ࠍ₪ᓧߔࠆ㧚ߎߩᚻᴺߪࠞࡔ࡜ߩ୘ᢙ߇ዋ ߥߊ㧘ࠪࠬ࠹ࡓ᭴ᚑࠦࠬ࠻߇ૐ޿㧚

12

৻ߟߩ㝼⌒ࠞࡔ࡜߆ࠄ⃿㕙ᛩᓇߦࠃࠅ㝼⌒↹௝ࠍ⃿㕙਄ߦࡑ࠶ࡇࡦࠣߒߡඨ⃿↹௝

ࠍᓧࠆߎߣ߇ߢ߈ࠆ㧚෻ኻะ߈ߩੑߟߩඨ⃿↹௝ࠍធวߔࠆߣ৻ߟߩ⃿㕙↹௝ߦߥࠆ㧚 ゞߩ਄ߦタߖߚੑߟߩ㝼⌒ࠞࡔ࡜߆ࠄోᄤ๟ࠞࡔ࡜૞ᚑߔࠆᵹࠇࠍ࿑2.5ߢ␜ߒߡ޿ࠆ㧚

߹ߕߪࠞࡔ࡜߆ࠄੑᨎߩ㝼⌒↹௝ࠍ᠟ࠅ㧘2.2▵ߢ⺑᣿ߒߚᚻᴺߦࠃࠅੑᨎߩ㝼⌒↹௝ࠍ ߘࠇߙࠇ⃿㕙ߦࡑ࠶ࡇࡦࠣߒߡੑߟߩඨ⃿↹௝ࠍᓧࠆ㧚৻ߟߩඨ⃿↹௝ࠍ180ᐲ࿁ォߒ ߡ߆ࠄ߽߁৻ߟߩඨ⃿↹௝ߣวࠊߖߡ⃿㕙↹௝ࠍᓧࠆߎߣ߇ߢ߈ࠆ㧚࿑ 2.6ߢߪోᄤ๟

↹௝߆ࠄ૞ᚑߒߚ┙ᣇ૕ߩ౐ߟߩ㕙߳ߩㅘⷞ↹௝ࠍ␜ߔ㧚

(a) (b) (c) (d)

࿑2.4 (a) ࡒ࡜࡯ࠍ೑↪ߒߚోᣇ૏ⷞⷡ࠮ࡦࠨ࡯ (b) 20୘ߩᐢⷺࠞࡔ࡜ߦࠃࠆోᄤ๟ࠞࡔ

࡜ (c) Googleࠬ࠻࡝࡯࠻ࡆࡘ࡯࠷࡯࡞ࠞࡔ࡜(d)ᧄ⎇ⓥߩోᄤ๟ࠞࡔ࡜

X

Z

Y

X

Z

Y

X Z

Y

2ߟߩ㝼⌒↹௝

ඨ⃿㕙↹௝

180q

࿑2.5 ੑߟߩ㝼⌒↹௝߆ࠄోᄤ๟↹௝ࠍ૞ᚑߔࠆᵹࠇ

14

࿑2.6 (a) ૞ᚑߒߚోᄤ๟↹௝⃿㕙↹௝ (b)ోᄤ๟↹௝߆ࠄ૞ᚑߒߚ౐㕙ㅘ ⷞ↹௝

਄ ೨ ਅ

ฝ ᓟ Ꮐ

(a)

(b)

ෳ⠨ᢥ₂

[1] S. Li, M. Nakano, N. Chiba, ''Acquisition of spherical image by using fish-eye conversion lens'', IEEE VR Conf., 2004.

[2] S. Li, ''Full-view spherical image camera'', International Conference on Pattern Recognition, 2006.

[3] ਛ㊁⺈჻㧘᧘઀೰㧘ජ⪲ೣ⨃㧘̌⃿㕙↹௝₪ᓧߩߚ߼ߩ㝼⌒ࠞࡔ࡜ߩᩞᱜ̍㧘㔚ሶᖱႎ ㅢାቇળ⺰ᢥ⹹㧘Vol. J88-D-II, No.9, pp. 1847-1856, 2005.

[4] ᧁቶ⟵ᒾ㧘㐳↰ᱜ㧘”⃿㕙౐ⷺᒻ↹௝ࡇ࡜ࡒ࠶࠼ࠍ↪޿ߚ⃿㕙ᛩᓇߦࠃࠆోᣇ૏↹௝ಣ ℂ”㧘 ᣣᧄࡠࡏ࠶࠻ቇળ⹹㧘Vol.14, No.6, pp.809-819,1996.

[5] K.Miyamoto, ''Fish eye lens'', J. of Optical Society of America, Vol.54, No.8, pp.1060-1061, 1964.

[6] ਛ㊁⺈჻㧘᧘઀೰㧘ජ⪲ೣ⨃㧘̌⃿㕙ࡕ࠺࡞ߦၮߠߊ❋ᮨ᭽ࡄ࠲࡯ࡦࠍ↪޿ߚ㝼⌒ࠞࡔ

࡜ߩᩞᱜ̍㧘㔚ሶᖱႎㅢାቇળ⺰ᢥ⹹㧘Vol.J90-D, No.1, pp.73-82,2007.

[7] S.Nayar, ''Catadioptric omnidirectional camera'', Proc. of Computer Vision and Pattern Recognition, pp.482-488, 1997.

[8] S.B.Kang, ''Catadioptric self-calibration'', Proc. of Computer Vision and Pattern Recognition, pp.201-207, 2000.

[9] R Swaminathan, and S.K.Nayer, ''Nonmetric calibration of wide-angle lenses and polycameras'', IEEE Trans. PAMI, Vol.22, No.10, 2000

[10] ㆙⮮㓉᣿㧘⼱Ꮉᥓᵗ㧘ᐢ↰శ৻㧘ᐢἑㅢቁ㧘̌⿥ᄙ⌒ࠞࡔ࡜ߦࠃࠆోᄤ๟↹௝ߩౣ᭴ᚑ̍㧘 ᖱႎಣℂቇળ⺰ᢥ⹹㧘Vol.43m㧘No.SIG11(CVIM5), 2002.

[11] Y. Amakai, S. Murayama, Y. Obi, H. Takano, N. Momono and K. Takanashi: J. Phys: Conf.

Series 150 (2009) 2004

17

╙ਃ┨ ోᄤ๟↹௝㆏〝࿾࿑⊓㍳ߩߚ߼ߩหᦼ໧㗴

ゞタࠞࡔ࡜ࠃࠅోᄤ๟↹௝ࠍ᠟ߞߡ㆏〝࿾࿑ߦ⥄േ⊓㍳ߔࠆߦߪ㧞ߟ ߩ㝼⌒↹௝߇หᤨߦ᠟ࠆᔅⷐ߇޽ࠆ㧚⸒޿឵߃ࠇ߫↹௝೉ߩหᦼ߇ᔅⷐߣ ߥࠆ㧚ߒ߆ߒߥ߇ࠄੑߟߩ㝼⌒ࠞࡔ࡜ࠍ෻ኻะ߈ߦ⟎ߊߚ߼౒ㅢߩ᷹ⷰ㗔

ၞߦၮߠߊหᦼߩᚻᴺߪ೑↪ߢ߈ߥ޿㧚ᧄ┨ߢߪ㧘౒ㅢߩㆇേᖱႎࠍ೑↪

ߒߡ㧘ߘࠇߙࠇ⁛┙ߦ⸥ᙘߐࠇࠆ㝼⌒↹௝೉ߣᘠᕈ࠮ࡦࠨ࡯߅ࠃ߮ GPS

࠺࡯࠲ࠍหᦼߔࠆᚻᴺࠍឭ᩺ߔࠆ㧚ߘߩหᦼࠍㅢߒߡᤨ㑆⊛ᢛวᕈߩขࠇ ߚ࠺࡯࠲ࠍ೑↪ߒߡ㧘⢛ਛวࠊߖߩ৻ኻߩ㝼⌒ࠞࡔ࡜ߢ᠟௝ߐࠇࠆోᄤ๟

ᤋ௝ߩ₪ᓧ㧘ဈ㆏߿௑ᢳߥߤߩ〝㕙⁁ᴫߦࠃࠅ↢ߓࠆోᄤ๟ᤋ௝ߩ௑߈ߩ

⵬ᱜ㧘෸߮㧘⒖േㅦᐲߦࠃࠄߥ޿ోᄤ๟ᤋ௝ߩ╬〒㔌ࠨࡦࡊ࡝ࡦࠣࠍታ⃻

ߔࠆߎߣ߇ߢ߈ࠆ㧚

3.1 ߪߓ߼ߦ

ITS㧔㜞ᐲ㆏〝੤ㅢࠪࠬ࠹ࡓ㧕ߩ⎇ⓥߦ߅޿ߡ㧘ੱޘߦಽ߆ࠅ߿ߔ޿㆏〝࿾࿑ߩឭଏ߇

㊀ⷐ⺖㗴ߩ৻ߟߢ޽ࠆ㧚৻⥸⊛ߥ㆏〝࿾࿑ߢߪ✢ࠍ૶ߞߡᐔ㕙ᐞ૗ᒻ⁁ߢ〝✢ᖱႎࠍ⴫␜

ߒߡ޿ࠆ߇㧘ੱ㑆ߩਥߥ⹺⼂ߪ⃻࿾ߩⷞⷡᖱႎߢ޽ࠆ㧚଀߃߫ࠞ࡯࠽ࡆࠥ࡯࡚ࠪࡦߥߤߢ ߪࠦࡦࡇࡘ࡯࠲ࠣ࡜ࡈࠖ࠶ࠢߦࠃࠅ૞ᚑߒߚᤋ௝ߢ⃻࿾ⷞⷡᖱႎࠍ⴫⃻ߒߡ޿ࠆ㧚ߒ߆ߒ

㆏〝๟ࠅߩᖱႎ߇߶ߣࠎߤ౉ߞߡߥ޿ߚ߼ᱜ⏕ߥ㆏᩺ౝ߿႐ᚲߩหቯࠍⴕ߁ߦߪ࿎㔍ߢ޽

ࠆ㧚ߒߚ߇ߞߡ㧘⃻ታᗵߩ㜞޿઒ᗐⓨ㑆ࠍ↢ᚑߒ㧘㜞ᐲߥ࿾࿑ᖱႎࠍၒ߼ㄟ߹ࠇߚ㧘ੱ㑆 ߦಽ߆ࠅᤃ޿㆏〝࿾࿑ࠍ᭴▽ߔࠆᔅⷐ߇޽ࠆ㧚

ᄢⷙᮨ㆏〝࿾࿑ࠍ᭴▽ߔࠆߚ߼㧘ታ↪⊛ߥᣇᴺߣߒߡ㧘GPS (Global Positioning System) ᖱႎࠍ೑↪ߒߡᴪ〝ߢ᠟ࠄࠇߚ↹௝ࠍᐔ㕙ᐞ૗㆏〝࿾࿑ߦ⥄േ⊓㍳ߔࠆߩ߇᜼ߍࠄࠇࠆ㧚 ࠃࠅ⥃႐ᗵߩ޽ࠆ઒ᗐⓨ㑆ࠍ↢ᚑߔࠆߚ߼ߦ㧘ోᄤ๟ࠞࡔ࡜ࠍ↪ᗧߒ㧘᠟ߞߚᤋ௝ߩᱜߒ

޿૏⟎߇ಽ߆ࠇ߫ోᄤ๟ᤋ௝㆏〝࿾࿑ࠍ᭴▽ߢ߈ࠆ㧚

ᧄ⎇ⓥߢߪᘠᕈ࠮ࡦࠨ࡯ࠍขࠅઃߌߚోᄤ๟ࠞࡔ࡜ࠍゞߩ਄ߦ࿕ቯߒ㧘ᣇ૏ᖱႎઃGPS

࠮ࡦࠨ࡯ࠍゞౝߦ៞タߔࠆ㧔࿑3.1㧕㧚ߎߩోᄤ๟ࠞࡔ࡜ߪੑߟߩඨ⃿㕙એ਄ߩⷞ㊁ࠍᜬߟ 㝼⌒ࠞࡔ࡜ߢ᭴ᚑߐࠇ㧘ᘠᕈ࠮ࡦࠨ࡯ߪ3ゲߩⷺㅦᐲߣ࿁ォⷺᐲࠍᬌ⍮ߢ߈ࠆ㧚ߘࠇࠄߩ

࠺࡯࠲ߩหᦼ߇ߣࠇࠇ߫㧘ోᄤ๟ࠞࡔ࡜ߩ૏⟎ᆫ൓ᖱႎࠍ₪ᓧߢ߈ࠆ㧚ࠁ߃ߦ㧘ోᄤ๟↹

௝ࠍ࠺ࠫ࠲࡞ࡑ࠶ࡊߢᱜ⏕ߦ⊓㍳ߔࠆߚ߼㧘⁛┙ߦ⸥㍳ߐࠇࠆฦ࠮ࡦࠨ࡯߆ࠄߩ࠺࡯࠲೉

ࠍหᦼߔࠆߎߣߪᭂ߼ߡ㊀ⷐߢ޽ࠆ㧚ౕ૕⊛ߦߪ㧘એਅߩหᦼࠍⴕ߁㧚 l ోᄤ๟↹௝೉ࠍ↢ᚑߔࠆߚ߼㧘ੑߟߩ㝼⌒ࠞࡔ࡜ߩ↹௝೉ߩหᦼ㧚 l ోᄤ๟↹௝೉ߣᘠᕈ࠮ࡦࠨ࡯࠺࡯࠲ߩหᦼ㧚

l ోᄤ๟↹௝೉ߣGPS࠺࡯࠲ߩหᦼ㧚

ᧄឭ᩺ᚻᴺߢߪㆇേᖱႎࠍ↪޿ߡหᦼࠍⴕ߁㧚ੑߟߩ↹௝೉ߦኻߒ㧘ੑߟߩࠞࡔ࡜ࠍห ߓᐳᮡ♽ߦ㈩⟎ߒߡ޿ࠆߣ઒ቯߒ㧘ߘࠇߙࠇ⃿㕙ࠬ࠹࡟ࠝᴺߢࠞࡔ࡜ㆇേߩផቯࠍⴕ߁㧚

ࠞࡔ࡜ߩᝄേߪห৻ゞߩㆇേߢ↢ߓࠆߚ߼㧘ੑߟߩࠞࡔ࡜߆ࠄផቯߐࠇࠆㆇേᖱႎ߆ࠄ㜞

޿⋧㑐୯ࠍតߒ಴ߒߡߘߩੑߟߩࠞࡔ࡜ߢ᠟௝ߐࠇߚ↹௝೉ߩหᦼ૏⟎ࠍ᳿ቯߢ߈ࠆ㧚ߘ ߩㆇേᖱႎߦၮߠ޿ߡᘠᕈ࠮ࡦࠨ࡯߅ࠃ߮GPSߣߩหᦼ߽ߢ߈ࠆ㧚ᘠᕈ࠮ࡦࠨ࡯ߪࠞࡔ࡜

ߣหߓᐳᮡ♽ߦ㈩⟎ߐࠇ㧘ゲߩⷺㅦᐲߦࠃࠅࠞࡔ࡜ߣหᦼߔࠆ㧚GPSߪゞߩㆇേᣇะࠍ␜

ߒߡ޿ࠆᣇ૏ⷺߦࠃࠅࠞࡔ࡜ߣߩหᦼ߇ߢ߈ࠆ㧚

3.2 㑐ㅪ⎇ⓥ

࿾࿑ߦ฽߹ࠇࠆᴪ〝ⷞⷡᖱႎࠍ⥄േ⊛ߦ↢ᚑߔࠆᣇᴺߪ⋓ࠎߦ⎇ⓥߐࠇߡ޿ࠆ㧚ᴪ〝ߢ

᠟ߞߚࡆ࠺ࠝ࠺࡯࠲ࠍ࿶❗ߔࠆߚ߼ߦࡄࡁ࡜ࡑ⴫⃻[1]ߣ๭߫ࠇࠆࠦࡦࡄࠢ࠻⴫⃻ᣇᴺ߇ ឭ᩺ߐࠇߡ޿ࠆ㧚ࡄࡁ࡜ࡑ↹௝߆ࠄ࡜ࡦ࠼ࡑ࡯ࠢࠍ᛽಴ߒ㧘⚻〝ࠍቯᕈ⊛ߦ⸥ㅀߔࠆ⹺⍮

࿾࿑[2]ࠍ↢ᚑߔࠆߎߣ߇ߢ߈ࠆ㧚੤Ꮕὐࠍ฽߻2ᰴర࿾࿑ߪ㧘੤Ꮕὐ߇ࡁ࡯࠻ߦ㧘⚻〝߇ ࠕ࡯ࠢߦኻᔕߒߚࠣ࡜ࡈߩࠃ߁ߥ⴫⃻ߣߒߡ᭴▽ߢ߈ࠆ[3]㧚ߚߛߒ㧘ߘߩࠕ࡯ࠢߦኻᔕߔ ࠆ⚻〝ࡄࡁ࡜ࡑ↹௝ࠍ㑐ㅪઃߌࠆ㧚ߐࠄߦ㧘GPSߩᖱႎߣᴪ〝ࡄࡁ࡜ࡑ⴫⃻ࠍวࠊߖࠆߣ

࿑3.1 ోᄤ๟ࠞࡔ࡜㧘ᘠᕈ࠮ࡦࠨ࡯ߣࡂࠗࡉ࡝࠶࠼GPSฃାᯏࠍゞߦ៞

タߐࠇߚ᭽ሶ

19 ᐞ૗ቇ⊛ᖱႎߣᴪ〝ࡄࡁ࡜ࡑ↹௝ⷞⷡᖱႎࠍ฽߻࿾࿑[4-6]ࠍ↢ᚑߔࠆߎߣ߇ߢ߈ࠆ㧚

ߒ߆ߒ㧘ࡄࡁ࡜ࡑ↹௝߇ࠞࡔ࡜ߩㆇേ゠〔ࠍਛᔃߣߒߚ⴫⃻ߢ޽ࠆߚ߼㧘ゞ߇੤Ꮕὐߢ ᦛ߇ࠆᤨߦᱡߺ߇↢ߓࠆ㧚߶߆ߦߪ㧘〒㔌࠮ࡦࠨ࡯[7,8]߿࡜ࠗࡦࠬࠠࡖࡦ߹ߚߪࠬ࠹࡟ࠝ

ࡆ࡚ࠫࡦಣℂ[9]ߥߤ߆ࠄ₪ᓧߒߚਃᰴరᖱႎߢᴪ〝ߩਃᰴరࡕ࠺࡞ࠍ᭴▽ߔࠆᚻᴺ߽ឭ

᩺ߐࠇߡ޿ࠆ㧚ߒ߆ߒ㧘⃻႐ࠍᧄ‛ߩ⾰ᗵ޽ࠆᱜ⏕ߥਃᰴరࡕ࠺࡞ߩ㆏〝᥊⦡ࠍਃᰴర⊛

ߦౣ᭴▽ߔࠆߩߪኈᤃߢߪߥ޿㧚ోᣇ૏↹௝ߩᱡߺ⵬ᱜᚻᴺߦ㑐ߒߡ㧘ᶖᄬὐ߿EPIಽᨆ [10]ߥߤߩᚻᴺࠍឭ᩺ߐࠇߡ޿ࠆ߇㧘ဈ㆏߿௑ᢳߥߤߩ〝㕙ߩ✭ᘟߥᄌൻߢ↢ߓࠆᱡߺࠍ

⵬ᱜߔࠆߩ߇࿎㔍ߢ޽ࠆ㧚

Google ࡑ࠶ࡊ ࠬ࠻࡝࡯࠻ࡆࡘ࡯࠷࡯࡞ߢ␜ߔࠃ߁ߦ㧘GPSᖱႎࠍ೑↪ߒߡ㧘ోᄤ๟↹

௝ࠍ⋥ធᐔ㕙ᐞ૗࿾࿑ߦ⊓㍳ߔࠆߩ߇᦭ലߥᣇᴺߢ޽ࠆ㧚ߒ߆ߒ㧘ߘߩ↹௝ߩ⊓㍳ᚻᴺࠍ

ౕ૕⊛ߦ␜ߒߡ޿ߥ޿㧚ᧄ⎇ⓥߢߪ㧘ోᄤ๟↹௝࠮ࡦࠨ࡯ߣGPSߣᘠᕈ࠮ࡦࠨ࡯߆ࠄߥࠆ

ࠪࠬ࠹ࡓࠍ↪޿ߡ㧘ࠞࡔ࡜ߩ௑߈߽⵬ᱜߢ߈ࠆోᄤ๟↹௝ࠍ࠺ࠖࠫ࠲࡞࿾࿑ߦ⥄േ⊓㍳ߔ ࠆᚻᴺࠍឭ᩺ߔࠆ㧚ౕ૕⊛ߦߪ㧘ㆇേᖱႎࠍ↪޿ߡฦ࠮ࡦࠨ࡯߆ࠄߩ࠺࡯࠲೉ࠍหᦼߒߡ㧘

ੑߟߩ㝼⌒ࠞࡔ࡜߆ࠄᤨ㑆⊛ᢛวᕈߩߣࠇߚోᄤ๟↹௝೉ࠍ₪ᓧߒ㧘ᘠᕈ࠮ࡦࠨ࡯࠺࡯࠲

ࠍ↪޿ߡోᄤ๟↹௝ߩ௑߈ࠍ⵬ᱜߔࠆ㧚ߐࠄߦ㧘หᦼߩߣࠇߚGPS࠺࡯࠲ߦࠃࠅోᄤ๟↹

௝೉ࠍဋ╬ߦ࡝ࠨࡦࡊ࡝ࡦࠣߔࠆߣ㧘ゞߩ⒖േㅦᐲߦᓇ㗀ߐࠇߕ࠺ࠫ࠲࡞ࡑ࠶ࡊ਄ߦဋ৻

ߦ⊓㍳ߔࠆߎߣ߇ߢ߈ࠆ㧚

ⶄᢙߩࠞࡔ࡜ࠍหᦼߔࠆ໧㗴ߦߟ޿ߡ㊀ⶄⷞ㊁ࠍ೑↪ߒߡ࿕ቯࠞࡔ࡜ߩᤨೞࠍหᦼߔ ࠆᚻᴺ߇ឭ᩺ߐࠇߡ޿ࠆ[11,12]㧚ᢥ₂[11]ߢߪ㧘߹ߕേ‛૕ࠍㅊ〔ߒߡߘߩ゠〔߆ࠄ߅߅ ࠃߘߩหᦼᤨೞߩ▸࿐ࠍផቯߒ㧘ᰴߦ᷹ⷰߐࠇࠆ․ᓽὐߦኻߒߡ㧘ࠬ࠹࡟ࠝᴺߩࠛࡇࡐ࡯

࡜࡯᜔᧤᧦ઙߦၮߠ޿ߡᱜ⏕ߥหᦼᤨೞࠍ᳿ቯߔࠆ㧚ᢥ₂[12]ߢߪ㧘↹௝ߢߩᄌൻࠍᤨ㑆

⊛․ᓽߣߒߡ↪޿㧘ߘߩᤨ㑆⊛․ᓽߩ⋧㑐ߦၮߠ޿ߡⶄᢙߩࠞࡔ࡜ߢ᠟௝ߐࠇߚⶄᢙߩ↹

௝೉㑆ߩኻᔕࠍⴕ߁㧚ߘࠇࠄߩవⴕ⎇ⓥߦኻߒߡ㧘ᧄࠪࠬ࠹ࡓߢߪ㧘એਅߩ․ᓽ߇᜼ߍࠄ ࠇࠆ㧚

l ᧄ⎇ⓥߢ↪޿ࠄࠇࠆోᄤ๟↹௝࠮ࡦࠨ࡯ߪ㧘⢛ਛวࠊߖߢขࠅઃߌࠄࠇߚੑߟߩ⚂

ඨ⃿ⷞ㊁ߩ㝼⌒ࠞࡔ࡜߆ࠄߥߞߡ޿ࠆߩߢ㧘ߘߩੑߟߩࠞࡔ࡜㑆ߦߪ㊀ⶄⷞ㊁߇߶

ߣࠎߤߥߊ㧘߹ߚ㧘ゞߩ⒖േਛߦ᠟௝ߐࠇࠆ↹௝೉ߢࠞࡔ࡜ߩหᦼࠍⴕ߁ߩߢ㧘ࠞ

ࡔ࡜߇㕒ᱛ⁁ᘒߦߥߞߡ޿ߥ޿㧚ߘߩߚ߼㧘೨ㅀߩవⴕ⎇ⓥߩᚻᴺࠍㆡ↪ߢ߈ߥ޿㧚 l ᧄ⎇ⓥߢߪ㧘ห⒳㘃࠮ࡦࠨ࡯ߩੑߟߩࠞࡔ࡜㑆ߩหᦼߛߌߢߪߥߊ㧘⇣⒳㘃࠮ࡦࠨ

࡯ߩࠞࡔ࡜㧘ࡂࠗࡉ࡝࠶࠼GPS㧘ᘠᕈ࠮ࡦࠨ࡯㑆ߩหᦼࠍⴕ߁㧚ߘࠇࠄߩ࠮ࡦࠨ࡯

߇ห৻ߩゞߦ៞タߐࠇߡ޿ࠆߎߣߦ⌕⋡ߒߡ㧘ฦ࠮ࡦࠨ࡯߆ࠄផቯߐࠇࠆㆇേᖱႎ ߦၮߠ޿ߡ࠮ࡦࠨ࡯㑆ߩหᦼࠍⴕ߁ᚻᴺࠍឭ᩺ߔࠆ㧚

3.3 ৻ኻߩ㝼⌒ࠞࡔ࡜߆ࠄߥࠆోᄤ๟ࠞࡔ࡜ߩหᦼ

߹ߕߪੑߟߩ㝼⌒ࠞࡔ࡜↹௝೉ߩหᦼᚻᴺߦߟ޿ߡ⺑᣿ߒ㧘ᰴߪ↹௝߆ࠄࠞࡔ࡜ߩㆇേ

ࠍផቯߔࠆᚻᴺߦߟ޿ߡㅀߴࠆ㧚

3.3.1 หᦼᚻᴺ

ᧄ⎇ⓥߩోᄤ๟ࠞࡔ࡜ߪ࿑ 3.2㧔ਅㇱ㧕ߢ␜ߐࠇ㧘ੑߟߩඨ⃿ⷞ㊁ߩ㝼⌒ࠞࡔ࡜ߢ᭴ᚑ ߐࠇߡ޿ࠆ㧚ߘߩੑߟߩ㝼⌒ࠞࡔ࡜ߩౝㇱࡄ࡜ࡔ࡯࠲ߣᄖㇱࡄ࡜ࡔ࡯࠲ߪ㧘ᢥ₂[13]ߢឭ

᩺ߐࠇߡ޿ࠆᚻᴺߦࠃࠅᩞᱜߔࠆ㧚

ੑߟߩࠞࡔ࡜ߪ੕޿ߦ೨ᓟߦ෻ኻะ߈ߣߥࠅ㧘⋧ኻᆫ൓ߪⴕ೉R_rf ߦࠃࠅᩞᱜߐࠇߚߣ

઒ቯߔࠆ㧚߹ߚ㧘ࠞࡔ࡜㑆ߩ〒㔌ߪ㕖Ᏹߦዊߐ޿ߩߢ㧘ੑߟߩࠞࡔ࡜ߩᐳᮡ♽ߩේὐߪห ߓߢ޽ࠆߣ઒ቯߒߡ޿ࠆ㧚ゞ߇⒖േߔࠆߣࠞࡔ࡜ߩㆇേࠍߘࠇߙࠇផቯߔࠆߎߣ߇ߢ߈ࠆ㧚

↹௝߆ࠄࠞࡔ࡜ߩਗㅴㆇേߩࠬࠤ࡯࡞ࠍቯ߼ߥ޿ߩߢ㧘ᧄ⺰ᢥߢߪ㧘ផቯߐࠇࠆ࿁ォᚑಽ ߩᄌൻ߆ࠄหᦼߩᤨೞࠍ᳿ቯߔࠆ㧚ផቯߐࠇߚੑߟߩࠞࡔ࡜ߩ࿁ォࠍߘࠇߙࠇR_f 㧘R_rߣ ߔࠆߣᰴߩᑼࠍᓧࠆ㧚

r rf

f R R

R = (3.1)

㝼⌒ࠞࡔ࡜߆ࠄߩ↹௝೉ߪ⁛┙ߦ⸥㍳ߔࠆߚ߼ߦ㧘ߎߩ㑆ߦ

D t

ᤨ㑆ㆃᑧ߇޽ࠆߣߔࠆ ߣ㧘㧔3.1㧕ᑼࠍએਅߦᦠ߈឵߃ࠆߎߣ߇ߢ߈ࠆ㧚

) ( )

(t t rf rt

f R R

R _+D = (3.2)

ోᄤ๟ࠞࡔ࡜ߩหᦼߔࠆߚ߼ߦߪᤨ㑆ㆃᑧ

D t

ࠍ᳿ቯߔࠇ߫ࠃ޿㧚

ੑߟߩࠞࡔ࡜߆ࠄផቯߐࠇߚ࿁ォ࠺࡯࠲೉ࠍߘࠇߙࠇR_f(t)㧘R_r(t-Dt)㧔t=1,L,n㧕ߣߔ ࠆߣ㧘ߎߩ࿁ォⴕ೉߆ࠄࡇ࠶࠴㧔x㧕㧘࡛࡯㧔y㧕ߣ ࡠ࡯࡞㧔z㧕ⷺᐲࠍ⸘▚ߒ㧘ࠞࡔ࡜ߏߣ ߦⷺᐲᄌൻࠍ⴫ߒߚਃߟߩ࠺࡯࠲೉ࠍ૞ᚑߔࠆߎߣ߇ߢ߈ࠆ㧚

ߚ ߣ ߃ ߫ 㧘 ࠞ ࡔ ࡜ ߩ ࡇ ࠶ ࠴ ⷺ ߩ ࠺ ࡯ ࠲ ೉ ࠍ ߘ ࠇ ߙ ࠇ X_f

(

x_f(1),x_f(2),L,x_f(_n)

)

㧘

(

_r(1), _r(2), , _r(_n)

)

r x x x

X L ߣߔࠆߣ㧘ߎߩX_f㧘X_rߩ㑆ߩ⋧㑐ଥᢙߪ

r

f X

X r f X

X X

s

r

=^cov(

s

^{, )} _(3.3)

ߢ޽ࠆ㧚ߚߛߒ㧘cov(X_f,X_r)߇X_fߣX_rߩ౒ಽᢔߢ㧘s_Xfߣs_Xr߇X_fߣX_rߩᮡḰ஍Ꮕ

21 ߢ޽ࠆ㧚࠺࡯࠲೉㑆ߩᤨ㑆ㆃᑧ

D t

ࠍ⠨߃ࠆߣ㧘ߎߩࡇ࠶࠴ⷺߩX_f(t+Dt)ߣX_r(t)㑆ߩ⋧㑐ଥ ᢙߪ

( ) ( )

(t t) r( )t

f X

X

t r t t f X

X t X

s r s

D +

D

=

+

D cov( , )

)

(

_(3.4)

ߦߥࠆ㧚หߓᣇᴺߢ࡛࡯ⷺߣࡠ࡯࡞ⷺߩ⋧㑐ଥᢙr_Y(Dt)ߣr_Z(Dt)ࠍ⸘▚ߢ߈ࠆ㧚 ᧄ⺰ᢥߢߪ3ߟߩⷺᐲߩ⋧㑐ଥᢙߩਸ਼Ⓧࠍ⸘▚ߒߡ㧘࿁ォో૕ߩ⋧㑐ᐲߣߒߡቯ⟵ߔࠆ㧚 ߘߩℂ↱ߪ㧘છᗧߩ࿁ォㆇേߪࡠ࡯࡞㧘ࡇ࠶࠴㧘࡛࡯ߩਃߟߩⷺᐲߢ৻ᗧ⊛ߦ⴫ߖࠆ㧚ੑ

ߟߩࠞࡔ࡜߇หߓㆇേࠍⴕ߁ߣߔࠇ߫㧘ߘߩੑߟߩࠞࡔ࡜߆ࠄផቯߐࠇࠆߘࠇߙࠇߩࡠ࡯

࡞㧘ࡇ࠶࠴㧘࡛࡯ߩⷺᐲ߽หߓߢ޽ࠆ㧚ࠃߞߡ㧘ߘߩ㧟ߟߩⷺᐲߩ⋧㑐ଥᢙߩਸ਼Ⓧࠍ⸘▚

ߔࠆߎߣߦࠃࠅ㧘ᦨᄢ୯㧝ߢ޽ࠆ࿁ォో૕ߩ⋧㑐ᐲࠍᓧࠆ㧚ߎߩ࿁ォ⋧㑐㑐ᢙCorr(t₎ߪᰴ

ߩᑼߢᓧࠄࠇࠆ㧚

) ( ) ( ) ( )

( t t t t

Corr = r

_X

D r

_Y

D r

_Z

D

(3.5)

ᦨᓟߦ㧘หᦼᤨೞߪߎߩ࿁ォ⋧㑐㑐ᢙߩᦨᄢ୯ߦࠃࠅ᳿ቯߢ߈ࠆ㧚

~ )}}

( { max

arg{

_~

Corr t

t (3.6)

ᰴߩ▵ߢ↹௝೉߆ࠄ㝼⌒ࠞࡔ࡜ߩ࿁ォߩផቯᚻᴺߦߟ޿ߡㅀߴࠆ㧚

3.2.2 ࠞࡔ࡜ߩㆇേផቯ

㝼⌒ࠞࡔ࡜ߪඨ⃿ⷞ㊁ࠍᜬߟߚ߼㧘ᓥ᧪ߩࡇࡦࡎ࡯࡞ࠞࡔ࡜ࡕ࠺࡞ࠍ⋥ធㆡ↪ߔࠆߎߣ ߇ߢ߈ߥ޿㧚ᧄ⎇ⓥߢߪ㧘㝼⌒ࠞࡔ࡜ߩㆇേࠍផቯߔࠆߚ߼㧘⃿㕙ࠞࡔ࡜ࡕ࠺࡞[13]ࠍ૶

ߞߡ㝼⌒↹௝ߩὐࠍ⃿㕙↹௝ᄌ឵ߒߡ⸘▚ߒߡ޿ࠆ㧚

㝼⌒ࠞࡔ࡜ߩᤋ௝߇30 fpsߢ㍳↹ߐࠇࠆߚ߼㓞ធߒߡ޿ࠆੑߟߩࡈ࡟࡯ࡓߩ㑆ߦゞߩㆇ

േߪ㕖Ᏹߦዊߐߊߥࠆ㧚ߘߩߚ߼㧘ᚒޘߪᓸዊㆇേផቯࡕ࠺࡞^[14]ߢࠞࡔ࡜ߩ࿁ォࠍ⸘▚ߒ ߡ޿ࠆ㧚

ⓨ㑆ὐPࠍ⇣ߥࠆੑߟߩ႐ᚲߢ᷹ⷰߒߡ޿ࠆߣ઒ቯߔࠆ㧚ὐPߩ৻ߟߩ⃿㕙↹௝ߢߩᛩ ᓇὐࠍ

m

㧘߽߁৻ߟߩ⃿㕙↹௝ߢߩᛩᓇὐࠍ

m¢

ߣߔࠆ㧚ੑߟߩ⃿㕙↹௝㑆ߩ࿁ォⴕ೉ࠍ

R㧘ਗㅴࡌࠢ࠻࡞ࠍ

t

ߣߔࠆߣ㧘ࡌࠢ࠻࡞

m

㧘

m¢

ߣ

t

ߪหߓᐔ㕙਄ߦ޽ࠆߩߢ㧘ᰴߩ

ᑼࠍᓧࠆ㧚

0 )]

(

[ ´ ¢ =

× t R m

m

(3.7)

ㆇേߪ㕖Ᏹߦዊߐ޿ߣ઒ቯߒ㧘ࠞࡔ࡜ߩਗㅴㅦᐲࠍ

v

㧘࿁ォⷺㅦᐲࠍ

w

ߣߔࠆߣࠞࡔ࡜ߩ ᓸዊㆇേߪᰴߩᑼߢ␜ߐࠇࠆ㧚

ï î ï í ì

+

¢ = +

=

=

´

m t m m

t Id R

tv t

&

d w d d

]

[

_(3.8)

ᑼ(3.7)(3.8)߆ࠄᰴߩᑼ߇ᓧࠄࠇࠆ㧚

0 ) ( ]) ][

([ v

_{´ ´}

m - m ´ m × v =

m

^T

w &

(3.9)

ߎߩᑼߪ

v

ߣ

w

ߩ㕖✢ᒻᣇ⒟ᑼߢ޽ࠆ㧚

v

߹ߚߪ

w

߇ᣢ⍮ߢ޽ࠆߣ઒ቯߔࠆߣ✢ᒻᣇ⒟

ᑼߦߥࠆ㧚ߎߩߎߣࠃࠅ㧘ᧄ⺰ᢥߢᰴߩ෻ᓳᣇᴺߢ

v

ߣ

w

ࠍផቯߔࠆ㧚

ࠞࡔ࡜ᓸዊㆇേផቯࠕ࡞ࠧ࡝࠭ࡓ㧦 Ԙ ゞ߇⒖േߔࠆߣ㧘એਅߩ⸘▚߇ᆎ߹ࠆ ԙ

w

_o

= 0

ߣߔࠆ

Ԛ

w

_oߩ୯ߢᑼ(3.9)ߦࠃࠅਗㅴࡌࠢ࠻࡞vࠍ⸘▚ߔࠆ ԛ ⸘▚ߒߚ

v

ߩ⚿ᨐߢᑼ(9)ߦࠃࠅ

w

_nࠍ⸘▚ߔࠆ Ԝ

w

_o

= w

_n

ԝ ᰴߩᑼߦࠃࠅផቯ⺋Ꮕࠍ⸘▚ߒ㧘ߘߩ⺋Ꮕ߇㑣୯T_eࠃࠅዊߐ޿႐วvߣwࠍ⚿ᨐߣ ߒߡ಴ജߒ㧘ߘ߁ߢߥߌࠇ߫Ԛߦᚯࠆ㧚

( ^{m v m m m v} ) ^Te

N

i i i i

T

i

£

å - ´ ×

= ´ ´

2 1

) (

]) ][

([ w &

_(3.10)

ߚߛߒ㧘 Nߪ․ᓽὐߩᢙߢ޽ࠆ㧚

หᦼᤨೞDtߪੑߟߩ㝼⌒ࠞࡔ࡜ߩ㍳↹ߒߚ↹௝೉߆ࠄ਄⸥ߩᚻᴺߢ⸘▚ߒߚࠞࡔ࡜ߩ

࿁ォⷺᐲ࠺࡯࠲೉ࠍ૶ߞߡ3.3.1ߢ⺑᣿ߒߚᚻᴺߢ᳞߼ࠆߎߣ߇ߢ߈ࠆ㧚 3.4 ᘠᕈ࠮ࡦࠨ࡯ߣߩหᦼ෸߮௑߈ߩ⵬ᱜ

ోᄤ๟↹௝ߪဈ㆏߿௑ᢳߥߤߩ〝㕙⁁ᴫߩᓇ㗀ࠍฃߌߡ௑߈߇↢ߓࠆ㧚ᚒޘߪᘠᕈ࠮ࡦ ࠨ࡯ࠍ↪޿ߡ௑߈ࠍ⵬ᱜߔࠆᣇᴺࠍឭ᩺ߔࠆ㧚߹ߕ㧘ోᄤ๟ࠞࡔ࡜ߣᘠᕈ࠮ࡦࠨ࡯ߩ⋧ኻ

23 ᆫ൓ߩផቯᚻᴺߦߟ޿ߡㅀߴࠆ㧚

3.4.1 ᘠᕈ࠮ࡦࠨ࡯ߣోᄤ๟ࠞࡔ࡜ߩ⋧ኻᆫ൓ߩផቯ

ᘠᕈ࠮ࡦࠨ࡯࿑ 3.2㧔਄ㇱ㧕ߪ3 ゲߩⷺㅦᐲߣ࿁ォⷺᐲࠍᬌ⍮ߢ߈ࠆ࠮ࡦࠨ࡯ߢ޽ࠅ㧘

ోᄤ๟ࠞࡔ࡜ߣ৻✜ߦ࿕ቯߐࠇߡ޿ࠆ㧚ਔ⠪㑆ߩ⋧ኻᆫ൓ߪ㧘੐೨ߦએਅߩᚻᴺߢ᷹ቯߒ ߡ߅ߊ㧚

ᘠᕈ࠮ࡦࠨ࡯ߣోᄤ๟ࠞࡔ࡜ߣߩ㑆ߩᐳᮡ㑐ଥߪ࿑3.2ߩࠃ߁ߦ⟎߆ࠇߡ޿ࠆ㧚ࠞࡔ࡜

ߩ᠟ࠆ‛૕ߣߩ〒㔌ߦኻߒᘠᕈ࠮ࡦࠨ࡯ߣోᄤ๟ࠞࡔ࡜ߣߩ〒㔌ߪ㕖Ᏹߦዊߐ޿ߩߢੑߟ ߩᐳᮡ♽ߩේὐߪ㊀ߥߞߡ޿ࠆߣ઒ቯߔࠆߎߣ߇ߢ߈ࠆ㧚ߒ߆ߒੑߟߩᐳᮡ♽ߩ㑆ߦዊߐ ߥ⋧ኻ࿁ォ߇޽ࠆ㧚ߘߩ࿁ォⴕ೉ࠍR_csߣߔࠆ㧚਎⇇ᐳᮡ♽ߩⓨ㑆ὐࠍP㧘਎⇇ᐳᮡ♽ߣࠞ

ࡔ࡜ᐳᮡ♽ߩ࿁ォⴕ೉ࠍR_c㧘਎⇇ᐳᮡ♽ߣᘠᕈ࠮ࡦࠨ࡯ߣߩ࿁ォⴕ೉ࠍR_sߣߔࠆߣὐ P ߩੑߟߩᐳᮡ♽ߩᛩᓇὐP_c㧘P_sߪߘࠇߙࠇ

P R

P

_c

=

_c

P

_s

= R

_s

P

(3.11)

ߣߥࠆ㧚ࠃߞߡ

c c s

s

R R P

P =

^-1 (3.12)

࿑3.2 ోᄤ๟ࠞࡔ࡜㧔ਅ㧕ߣᘠᕈ࠮ࡦࠨ࡯㧔਄㧕ߩᐳᮡ㑐ଥ

⋧ኻᆫ൓ࠍ⴫ߔ࿁ォⴕ೉ߪ㧘એਅߣߥࠆ㧚

-1

=

_{s c}

cs

R R

R

_(3.13)

ߘߩ⋧ኻᆫ൓ࠍታ㛎ቶߢ੐೨ߦ᷹ቯߢ߈ࠆ㧚ᰴߪ⋧ኻᆫ൓ߢ⵬ᱜߒߚ࠺࡯࠲ࠃࠅหᦼߔ ࠆߎߣߦߟ޿ߡㅀߴࠆ㧚

3.4.2 ᘠᕈ࠮ࡦࠨ࡯ߩหᦼ

ゞ߇⒖േߔࠆߣ߈㧘ోᄤ๟ࠞࡔ࡜ߣᘠᕈ࠮ࡦࠨ࡯ߣߩหᦼߪᘠᕈ࠮ࡦࠨ࡯߆ࠄߩⷺㅦᐲ ߣ↹௝೉߆ࠄផቯߒߚోᄤ๟↹௝೉ߩࡈ࡟࡯ࡓ㑆ߩⷺᐲ࠺࡯࠲೉ࠍ↪޿ߡⴕࠊࠇࠆ㧚หᦼ ߔࠆᵹࠇߪᰴߩㅢࠅߢ޽ࠆ㧚

l ᧄ⎇ⓥߢ↪޿ࠄࠇߡ޿ࠆᘠᕈ࠮ࡦࠨ࡯࠺࡯࠲ߩㅦ₸ߪࠞࡔ࡜ߣ㆑ߞߡ60 Hzߢ޽ࠆ㧚

ోᄤ๟↹௝೉ߩࡈ࡟࡯ࡓㅦ₸ߦኻᔕߔࠆߚ߼ߦ↹௝೉ߣหߓㅦ₸ߢ࡝ࠨࡦࡊ࡝ࡦࠣ

ߔࠆ㧚

l ᘠᕈ࠮ࡦࠨ࡯ߩⷺㅦᐲߣ↹௝೉߆ࠄផቯߒߚోᄤ๟↹௝೉ߩࡈ࡟࡯ࡓ㑆ߩⷺᐲ࠺࡯

࠲೉ࠍ3.3.1ߢㅀߴߚᚻᴺߢ࠺࡯࠲೉㑆ߩ⋧㑐ଥᢙࠍ⸘▚ߒ㧘หᦼᤨೞDtࠍ᳞߼ࠆ㧚

3.4.3 ోᄤ๟↹௝ߩ௑߈⵬ᱜ

ℂ⺰਄㧘หᦼߩߣࠇߚᘠᕈ࠮ࡦࠨ࡯ߩⷺᐲࠃࠅࠞࡔ࡜ߩߔߴߡߩ࿁ォࠍ⵬ᱜߔࠆߎߣ߇ ߢ߈ࠆ㧚ߒ߆ߒ㧘ỗߒ޿ំࠇ߇޽ࠆߣ߈㧘ടㅦᐲߢ⸘᷹ߐࠇࠆᘠᕈ࠮ࡦࠨ࡯ߩⷺᐲߦߪ⺋

Ꮕ߇ᄢ߈ߊ㧘ߘࠇߦၮߠ޿ߚࠞࡔ࡜ߩᱜ⏕ߥᆫ൓⵬ᱜ߇㔍ߒ޿㧚ᧄ⎇ⓥߢᵈ⋡ߔࠆߩߪဈ

㆏߿௑ᢳߥߤߩ〝㕙⁁ᴫߩ✭ᘟߥᄌൻߢ޽ࠆ㧚ဈ㆏ߩ௑ᢳⷺࠍᘠᕈ࠮ࡦࠨ࡯߆ࠄ⸘᷹ߒ㧘 ߘࠇࠍ೑↪ߒߡోᄤ๟↹௝ߩ௑߈ࠍ⵬ᱜߔࠆ㧚ಣℂߩᵹࠇߪᰴߩㅢࠅߢ޽ࠆ㧚

l ᘠᕈ࠮ࡦࠨ࡯ߩⷺᐲ࠺࡯࠲೉ࠍ50ࡈ࡟࡯ࡓߩ▸࿐ߢᐔဋߒߡᐔṖൻߔࠆ㧚ߎߎߢߩ 50ࡈ࡟࡯ࡓߪᧄ⎇ⓥߢታ㛎߆ࠄ᳿߼ࠄࠇߚᢙሼߢ޽ࠆ㧚ᘠᕈ࠮ࡦࠨ࡯߇ടㅦᐲࠍ⸘

ߞߡ޿ࠆߩߢ㧘ゞߩㆇേᤨߩំࠇߦኻߒߡᢅᗵߢ޽ࠆ㧚࿑3.3߇␜ߔࠃ߁ߦ㧘50ࡈ

࡟࡯ࡓߩ▸࿐ߢᐔṖൻߔࠆߎߣߦࠃࠅ㧘Ṗࠄ߆ߥ࠺࡯࠲೉ࠍᓧࠆߎߣ߇ߢ߈ࠆ㧚 l ᑼ(13)ߦၮߠ޿ߚ⋧ኻᆫ൓ࠍ⵬ᱜߒߚᘠᕈ࠮ࡦࠨ࡯ߩⷺᐲ࠺࡯࠲߆ࠄ㧘ࠞࡔ࡜ߩ௑

߈ߦࠃࠆ࿁ォⴕ೉ࠍ⸘▚ߔࠆ㧚

l ࿁ォⴕ೉ࠃࠅోᄤ๟↹௝ࠍ࿁ォߒߡ௑߈ߩ⵬ᱜᓟߩ↹௝ࠍᓧࠆ㧚

25

3.5 GPS࠺࡯࠲ߩหᦼ

ᧄ⎇ⓥߢ૶↪ߐࠇߡ޿ࠆ GPS ࠮ࡦࠨ࡯ߪ૏⟎ᖱႎߣᣇ૏ᖱႎࠍ᷹ቯߢ߈ࠆࡂࠗࡉ࡝࠶

࠼GPSߢ㧘᷹ቯ࠺࡯࠲ߩㅦ₸ߪ4 Hzߢ޽ࠆ㧚ᚒޘߪߎߩᣇ૏ⷺߩ࠺࡯࠲ࠃࠅGPS࠮ࡦࠨ

࡯ߣోᄤ๟ࠞࡔ࡜ࠍหᦼߔࠆ㧚ಣℂߩᵹࠇߪᰴߩㅢࠅߢ޽ࠆ㧚

l GPS࠮ࡦࠨ࡯ߩᣇ૏ⷺ࠺࡯࠲ߦࡁࠗ࠭㒰෰ࡈࠖ࡞࠲ࠍ߆ߌࠆ㧚࿑3.4߇␜ߔࠃ߁ߦ㧘 ゞߩṖࠄ߆ߥㆇേߦኻߒߡ㧘GPSߢᓧߚᣇ૏ⷺߦᕆߥ㘧߮߇⃻ࠇߡ޿ࠆ㧚ᧄ⎇ⓥߢߪ㧘 એਅߩಣℂߢᣇ૏ⷺ࠺࡯࠲ߩࡁࠗ࠭ࠍ㒰෰ߔࠆ㧚

Ԙ߹ߕ㧘ోᣇ૏ⷺߩ࠺࡯࠲೉ߦኻߒߡ㧘ࡈ࡟࡯ࡓ㑆ߩᣇ૏ⷺߩᐔဋᄌൻ㊂DXࠍ▚಴

ߔࠆ㧚

ԙᰴߦࡈ࡟࡯ࡓ㑆ߩᄌൻ㊂DX_i=X_i-X_i-1ࠍ⸘▚ߔࠆ㧚߽ߒ㧘DX_i>DXߢ޽ࠇ߫㧘X_i ࠍࡁࠗ࠭ὐߩ୥⵬ߣߒߡ⷗ߥߔ㧚

Ԛߐࠄߦ㧘એਅߩᑼߢ㧘࠺࡯࠲ὐ૏⟎i߆ࠄ▸࿐㧰ౝߦ߅޿ߡ㧘ߘࠇࠄߩ࠺࡯࠲ὐ ߩX_i-1ߣߩᄌൻߩᦨዊ୯ߩ૏⟎k^{ࠍ⸘▚ߔࠆ㧚}

{

^{;( )}

}

^}

min

arg{ X_j X_j X_{i 1} i j i D

j D = - _- £ < + (3.14)

ߚߛߒ㧘ᧄ⎇ⓥߢߪ㧘㧰ࠍ㧝㧜ߣߔࠆ㧚

ԛ߽ߒ㧘k>i ߢ޽ࠇ߫㧘_Xiࠍࡁࠗ࠭ߣߒߡ⷗ߥߒ㧘_Xiߩ୯ࠍ_Xkߩ୯ߢ⟎߈឵߃ࠆ㧚

࿑3.3 ᘠᕈ࠮ࡦࠨ࡯ߩⷺᐲ࠺࡯࠲೉ࠍ10߆ࠄ90࡟࡯ࡓߩ▸࿐ߢᐔṖൻߒߚ⚿ᨐ

l GPS࠮ࡦࠨ࡯࠺࡯࠲ߩㅦ₸ߪࠞࡔ࡜ࠃࠅૐ޿ߚ߼㧘✢ᕈ⵬㑆ߒߡోᄤ๟↹௝೉ߣหߓ ㅦ₸ߦߔࠆ㧚

l ోᄤ๟↹௝೉߆ࠄផቯߒߚ࿁ォⷺᐲ߇㓞ធߒߡ޿ࠆੑߟߩࡈ࡟࡯ࡓ㑆ߩⷺᐲߢ޽ࠅ㧘 GPS࠮ࡦࠨ࡯ߩᣇ૏ⷺ࠺࡯࠲ࠍోᄤ๟↹௝೉ߩ࠺࡯࠲ߣหߓߊ⴫␜ߔࠆߚ߼㧘㓞ធߒ ߡ޿ࠆੑߟߩᣇ૏ⷺߩᏅࠍ⸘▚ߔࠆ㧚

l GPS࠮ࡦࠨ࡯ߩᣇ૏ⷺ࠺࡯࠲೉ߣ↹௝೉߆ࠄផቯߒߚ࡛㧙ⷺߩ࠺࡯࠲೉㑆ߩ⋧㑐ଥᢙ ࠍᑼ(4)ߦࠃࠅ⸘▚ߒ㧘หᦼᤨೞDtࠍ᳞߼ࠆ㧚

หᦼߩߣࠇߚGPS࠺࡯࠲߆ࠄోᄤ๟↹௝೉ߩฦ↹௝ߩ࿾㕙ߦ߅ߌࠆ૏⟎߇ࠊ߆ࠆ㧚ߒ߆ ߒ㧘ㅪ⛯㍳↹ߐࠇࠆోᄤ๟↹௝೉ߩ࿾㕙ߦ߅ߌࠆ㈩⟎ߪゞߩㅦᐲᄌൻߦᓇ㗀ߐࠇ㧘ਇဋ৻

ߦߥࠆ㧚ᧄ⺰ᢥߢߪ㧘ㅪ⛯㍳↹ߐࠇߚోᄤ๟↹௝೉ࠍหᦼߩߣࠇߚGPSߩ૏⟎ᖱႎࠃࠅဋ

╬〒㔌ߢ࡝ࠨࡦࡊ࡝ࡦࠣߒߡ࠺ࠫ࠲࡞ࡑ࠶ࡊߦ⊓㍳ߔࠆߎߣ߇ߢ߈ࠆ㧚

3.6 ታ㛎ߣ⚿ᨐ

ᧄታ㛎ߢߪ㧘Ꮢ⽼ߩㇱຠߢ⚵ߺ┙ߡߚోᄤ๟ࠞࡔ࡜㧘࠺࡯࠲࡮࠹࠶ࠢ␠ߩᘠᕈ࠮ࡦࠨ࡯

ߣࡄࠗࠝ࠾ࠕ࠽ࡆࠦࡓ␠ߩࡂࠗࡉ࡝࠶࠼GPSฃାᯏ㧔GPS- MIZZ㧕ࠍ࿑3.1ߩࠃ߁ߦゞਔ ߦ៞タߔࠆ㧚ోᄤ๟ࠞࡔ࡜ߪੑߟߩⷞ㊁߇185ᐲߩ㝼⌒ࠞࡔ࡜ߢ᭴ᚑߐࠇߡ޿ࠆ㧚

࿑3.5ߦ㧘ੑߟߩ㝼⌒ࠞࡔ࡜߆ࠄ᠟௝ߐࠇߚ↹௝ࠍ␜ߔ㧚ߘߩ↹௝ߦኻߒߡ㧘߹ߕᢥ₂

[16]ߦ␜ߐࠇߚᚻᴺߢᄢ߈ߥ࿕᦭୯ࠍ߽ߟࠦ࡯࠽࡯ߩ․ᓽὐࠍᦨᄢ200୘᛽಴ߔࠆ㧚ᰴߦ㧘

ߘࠇࠄߩ․ᓽὐߦኻߒߡ㧘ᰴߩ↹௝ߦ߅޿ߡ LK-Tracker[17]ߢዊߐ޿⺋Ꮕߢㅊ〔ߢ߈ߚ․

ᓽὐ㧔࿑ 3.5ߢ⿒ߣ㕍ὐߢ␜ߔ㧕ࠍ↪޿ߡ㧘ࠞࡔ࡜ߩ⒖േࠍផቯߔࠆ㧚ౕ૕⊛ߦߪ㧘਄⸥

ߩ․ᓽὐߩ⊒⷗ߣㅊ〔ߪ㧘↹௝ಣℂ࠷࡯࡞OpenCV[18]ࠍ↪޿ߡⴕࠊࠇߡ޿ࠆ㧚

࿑3.4 GPS࠮ࡦࠨ࡯ߩᣇ૏ⷺ࠺࡯࠲ߩࡁࠗ࠭ࠍ㒰෰ߒߚ⚿ᨐ

27

࿑3.6 (a)ߣ(b)ߪߘࠇߙࠇੑߟߩ㝼⌒ࠞࡔ࡜ߩ↹௝೉߆ࠄផቯߒߚ࿁ォⷺ

ᐲ࡛࡯(y)࠺࡯࠲೉㧚(c)ߪᘠᕈ࠮ࡦࠨ࡯ߩⷺᐲ࡛࡯ߩ࠺࡯࠲೉ (d)ߪಣℂߒ ߚGPSᣇ૏ⷺ࠺࡯࠲೉

(a) (b)

(c) (d)

࿑3.5 㝼⌒ࠞࡔ࡜ߩ㓞ធߒߡ޿ࠆੑߟߩࡈ࡟࡯ࡓߩࠨࡦࡊ࡞↹௝㧚਄ߩὐߪ

ࠞࡔ࡜ߩㆇേ▚಴ߦ᛽಴ߒߚ․ᓽὐߦߥࠆ

ੑߟߩ㝼⌒ࠞࡔ࡜ߩ࿁ォࠍߘࠇߙࠇߩ↹௝೉߆ࠄផቯߒߚ࡛࡯ⷺߩ୯ࠍ࿑3.6ߩ(a)(b)ߢ

␜ߒߡ޿ࠆ㧚(c)ߪᘠᕈ࠮ࡦࠨ࡯߆ࠄߩ࡛࡯ⷺᐲ୯ߢ㧘(d)߇ GPS ߩᣇ૏ⷺ୯ࠍࡈ࡟࡯ࡓ㑆 ߩⷺᐲᄌൻߦᄌ឵ߒߚ࠺࡯࠲ߢ޽ࠆ㧚ߘߩ⚿ᨐ߇␜ߔࠃ߁ߦ㧘4 ߟߩ࠺࡯࠲೉ߩ㑆ߦߪᒝ

޿⋧㑐߇ሽ࿷ߔࠆ㧚

㝼⌒ࠞࡔ࡜ߩࡇ࠶࠴㧔x㧕㧘࡛࡯㧔y㧕ߣ ࡠ࡯࡞㧔z㧕ⷺᐲߩ⋧㑐ଥᢙߩ⸘▚⚿ᨐߪ࿑3.7(a) ߢ␜ߒߡ޿ࠆ㧚࿑ 3.7(b)ߢ␜ߒߚࠃ߁ߦਃߟߩ⋧㑐ଥᢙߩਸ਼Ⓧࠍ⸘▚ߒߚ࿁ォㆇേో૕ߩ

⋧㑐ଥᢙߦ⪺ߒ޿ࡇ࡯ࠢ߇ሽ࿷ߔࠆ㧘ߘߩหᦼᤨೞߪ38ࡈ࡟࡯ࡓߢ޽ࠆ㧚

࿑3.7㧔a㧕㝼⌒ࠞࡔ࡜ߩࡇ࠶࠴㧔x㧕㧘࡛࡯㧔y㧕ߣ ࡠ࡯࡞㧔z㧕ⷺᐲߩ⋧㑐ଥᢙ

ߩ⸘▚⚿ᨐ㧔b㧕㧟ߟߩ⋧㑐ଥᢙߩਸ਼Ⓧߢ⴫ߔ࿁ォో૕ߩ⋧㑐ଥᢙߩ⚿ᨐ (a)

(b) (b (b (b)))

29

ੑߟߩ㝼⌒ࠞࡔ࡜ࠍหᦼߒߡోᄤ๟↹௝૞ᚑߒߚ⚿ᨐࠍ࿑3.8ߢ␜ߔ㧚࿑3.8ߩ(a)ߪੑ

ߟߩ㝼⌒ࠞࡔ࡜ߩᤋ௝ࠍหᦼߔࠆ೨ߩ⚿ᨐࠍ␜ߔ㧚ߘߩ࿑ߦ߅޿ߡඨ⃿㕙ߩႺ⇇ߦᴪߞߡ

᣿ࠄ߆ߥᐞ૗ቇ⊛ߥਇᢛว߇⷗ࠄࠇࠆ㧚(b)ߪหᦼᓟߩ⚿ᨐߣߥࠆ㧚ߘߩᐞ૗ቇ⊛ߥਇᢛว ߇ߥߊߥߞߡ޿ࠆ㧚

࿑3.8 ੑߟ㝼⌒ࠞࡔ࡜ࠍหᦼߒߡ૞ᚑߒߚోᄤ๟↹௝㧚(a)หᦼ೨ߩวᚑోᄤ

๟↹௝ (b)หᦼᓟߩోᄤ๟↹௝

(a)

(b)

ᘠᕈ࠮ࡦࠨ࡯ߩⷺㅦᐲߣ㝼⌒ࠞࡔ࡜ߩ↹௝߆ࠄផቯߒߚⷺᐲࠍ࿑3.2ߩࠃ߁ߦฦゲߦኻ ᔕߐߖ㧘ߘࠇߦࠃࠆ㧘ࡇ࠶࠴㧘࡛࡯ߣ ࡠ࡯࡞ⷺᐲߩ⋧㑐ଥᢙߩ⸘▚⚿ᨐࠍ࿑3.9ߩ(a)ߢ␜

ߔ㧚߹ߚ㧘ਃߟߩ⋧㑐ଥᢙߩਸ਼Ⓧߩ⸘▚⚿ᨐࠍ࿑3.9ߩ(b)ߢ␜ߔ㧚ߘߩ⪺ߒ޿ࡇ࡯ࠢߢቯ

߼ࠆหᦼᤨೞߪ122ࡈ࡟࡯ࡓߢ޽ࠆߩ߇ࠊ߆ࠆ㧚

࿑3.9 㧔a㧕㝼⌒ࠞࡔ࡜ߣᘠᕈ࠮ࡦࠨ࡯ߩࡇ࠶࠴㧔x㧕㧘࡛࡯㧔y㧕ߣ ࡠ࡯࡞㧔z㧕

ⷺᐲߩ⋧㑐ଥᢙߩ⸘▚⚿ᨐ㧚㧔b㧕㧟ߟߩ⋧㑐ଥᢙߩਸ਼Ⓧߢ⴫ߔ࿁ォో૕ߩ⋧㑐 ଥᢙߩ⚿ᨐ

(a)

(b)

31 หᦼߒߚᘠᕈ࠮ࡦࠨ࡯ߩⷺᐲࠃࠅోᄤ๟↹௝ߩ௑߈ࠍ⵬ᱜߒߚ⚿ᨐߪ࿑3.10ߦߥࠆ㧚ߎ ߩ⚿ᨐߪゞ߇ဈ㆏ࠍ਄ߞߡ޿ࠆᤨߦ᠟ߞߚ↹௝ߢ޽ࠆ㧚Ꮐߩ࿑߇⵬ᱜ೨ߩ᭽ሶߢฝߩ࿑߇

⵬ᱜᓟߩ⚿ᨐߢ㆏〝ᮡ⼂ߩᱡߺ߇ᡷༀߐࠇߡ޿ࠆ㧚

GPS࠮ࡦࠨ࡯ߩᣇ૏ⷺ࠺࡯࠲߆ࠄࡈ࡟࡯ࡓ㑆ߩⷺᐲᄌൻࠍ᳞߼㧘ߘࠇߣోᄤ๟↹௝೉ߩ࡛

࡯ⷺߩ࠺࡯࠲ߣߩ⋧㑐ଥᢙࠍ⸘▚ߒ㧘ߘߩ⚿ᨐࠍ࿑3.11(a)ߢ␜ߔ㧚ߘߩหᦼᤨೞߪ121ࡈ

࡟࡯ࡓߢ޽ࠆ㧚

࿑3.11 (a)GPS࠮ࡦࠨ࡯ߩᣇ૏ⷺߣోᄤ๟↹௝೉ߩ࡛࡯ⷺߩ⋧㑐ଥᢙߩ⸘▚⚿ᨐ㧚

(b) ోᄤ๟↹௝೉ࠍ࡝ࠨࡦࡊ࡝ࡦࠣߒߚ⚿ᨐ

(a) (b)

࿑3.10 㝼⌒ోᄤ๟↹௝ߩᱡߺߩ⵬ᱜ⚿ᨐ

หᦼߩߣࠇߚోᄤ๟↹௝೉ࠍ GPS ૏⟎ࠃࠅဋ╬ߥ〒㔌ߢ࡝ࠨࡦࡊ࡝ࡦࠣߒߚ⚿ᨐࠍ

3.11(b)ߢ␜ߔ㧚⿒ὐߪหᦼߩߣࠇߚGPSߩ૏⟎ᖱႎߢ␜ߐࠇߚోᄤ๟↹௝೉ߩ૏⟎ߢ㧘㕍

ὐߪ࡝ࠨࡦࡊ࡝ࡦࠣߒߚ⚿ᨐߣߥࠆ㧚ゞߩㅦᐲߪ੤ㅢ⁁ᴫߩᓇ㗀ߢ⿒ὐߩࠃ߁ߦਇဋ৻ߢ

޽ࠆ߇㧘࡝ࠨࡦࡊ࡝ࡦࠣߔࠆߎߣߦࠃࠅోᄤ๟↹௝ߪ࠺ࠫ࠲࡞ࡑ࠶ࡊߦ߅߅ࠃߘ╬ߒ޿㑆 㓒ߢ⊓㍳ߐࠇߡ޿ࠆ㧚

ᦨᓟߦ㧘ဋ╬〒㔌ߢ࡝ࠨࡦࡊ࡝ࡦࠣߒߚోᄤ๟↹௝ࠍࠝ࡯ࡊࡦGoogle Map APIࠍ೑↪ߒ

ߡ Google ࡑ࠶ࡊߦ⊓㍳ߒߚ⚿ᨐࠍ⪺⠪ߩ࠙ࠚࡉࠨࠗ࠻[15] ߢ౏㐿ߒߡ޿ࠆ㧚࿑ 3.12 ߪ

Googleࡑ࠶ࡊߢࠢ࡝࠶ࠢߒߚ૏⟎ߦ⊓㍳ߐࠇߚోᄤ๟↹௝ࠍ⴫␜ߔࠆ଀ࠍ␜ߔ㧚

3.7 ߹ߣ߼

ᧄ⎇ⓥߢߪ㧘ోᄤ๟㆏〝࿾࿑ࠍ᭴▽ߔࠆߚ߼ߦ㧘ੑߟߩ㝼⌒ࠞࡔ࡜߆ࠄߥࠆోᄤ๟ࠞࡔ

࡜ߣᘠᕈ࠮ࡦࠨ࡯߅ࠃ߮ࡂࠗࡉ࡝࠶࠼GPS࠮ࡦࠨ࡯ࠍゞߦ៞タߒ㧘ߘࠇߙࠇ⁛┙ߦ⸥㍳ߒ ߚ࠺࡯࠲ࠍ౒ㅢߩㆇേᖱႎߦࠃࠅหᦼߔࠆᚻᴺࠍឭ᩺ߒߚ㧚ਥߥᚑᨐߪᰴߩㅢࠅߢ޽ࠆ㧚

࿑3.12 Googleࡑ࠶ࡊߢࠢ࡝࠶ࠢߒߚ૏⟎ߩోᄤ๟↹௝ߩࠨࡦࡊ࡞

33 l ⶄᢙߩࠞࡔ࡜ࠍหᦼߔࠆᣇᴺߣߒߡᓥ᧪ߪ㊀ⶄⷞ㊁ࠍ೑↪ߒߡ޿ߚ㧚ᧄ⎇ⓥߢᚒޘߪ

㊀ⶄⷞ㊁߇߶ߣࠎߤሽ࿷ߒߥ޿ੑߟߩ㝼⌒ࠞࡔ࡜ߩ㑆ߩㆇേߩᢛวᕈࠍ೑↪ߒߡࠞ

ࡔ࡜㑆ߩหᦼࠍⴕߞߡ޿ࠆ㧚ࠞࡔ࡜㑆ߩ࿁ォㆇേߩ⋧㑐ߪ㧘ផቯߐࠇߚࡠ࡯࡞㧘ࡇ࠶

࠴㧘࡛࡯ߩਃߟߩⷺᐲߩ⋧㑐ଥᢙߩਸ਼Ⓧߢ▚಴ߐࠇࠆ㧚ߘߩ᦭ലᕈ߇ታ㛎⚿ᨐ߆ࠄ␜

ߐࠇࠆ㧚

l ဈ㆏߿௑ᢳߥߤߩ〝㕙⁁ᴫߩ✭ᘟߥᄌൻߢ↢ߓࠆోᄤ๟↹௝ߩ௑߈ࠍోᄤ๟ࠞࡔ࡜

ߣᘠᕈ࠮ࡦࠨ࡯หᦼߔࠆߎߣߦࠃࠅ⵬ᱜߔࠆᚻᴺࠍឭ᩺ߒߚ㧚

l ᦨᓟߦోᄤ๟↹௝ࠍࡂࠗࡉ࡝࠶࠼GPSߣหᦼߒߡ㧘߶߷╬〒㔌ߢࡑ࠶ࡊߩ㆏〝ߦᴪߞ ߞߡ⊓㍳ߔࠆᚻᴺࠍឭ᩺ߒߚ㧚

ᧄឭ᩺ᚻᴺߩ᦭ലᕈࠍታ㛎⚿ᨐߦࠃߞߡ␜ߒߚ㧚ߎߩឭ᩺ᣇᴺߪૐࠦࠬ࠻ߩࠪࠬ࠹ࡓߢ

◲නߦోᄤ๟㆏〝࿾࿑ࠍ᭴▽ߔࠆߎߣ߇ߢ߈ࠆ㧚

ෳ⠨ᢥ₂

[1] J.Y. Zheng and S. Tsuji, “Panoramic representation for route recognition by a mobile robot”, IJCV, 9(1), pp.55-76, 1992.

[2] ᧘઀೰㧘ㄞਃ㇢㧘ࡄࡁ࡜ࡑ⴫⃻ౝߩਃᰴర‛૕ߦࠃࠆ⚻〝ࠪ࡯ࡦߩ⸥ㅀ㧘㔚ሶᖱႎㅢ

ାቇળ⺰ᢥ⹹㧘D-II, Vol. J76-D-II, No.10, pp.2177-2184, 1993ᐕ10᦬.

[3] ⿧ᥓ੫㧘᧘઀೰㧘౎ᧁᐽผ㧘⼱ౝ↰ᱜᒾ㧘⚻〝ߣ੤Ꮕὐߩ᷹ⷰߦࠃࠆⅣႺ࿾࿑ߩ૞ᚑ㧘 㔚᳇ቇળ⺰ᢥ⹹C㧘╙118Ꮞ㧘╙4ภ㧘pp.510-519, 1998ᐕ4᦬.

[4] S. Li and A. Hayashi, “Robot Navigation in Outdoor Environments by Using PGS Information and Panoramic Views”, Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.570-575, 1998.

[5] J.Y. Zheng, “Route panorama”, IEEE Multimedia, 10(3), pp.57-68, 2003.

[6] J.Y. Zheng and S. Li, Employing fish-eye camera for scene tunnel scanning, ACCV, pp.106-117, January, 2006.

[7] C. Frueh and A. Zakhor, “3D model generation for cities using aerial photographs and ground level laser scans”, CVPR, 2001.

[8] J. Hu, S. You and U. Neuman, “Approaches to large-scale urban modeling”, IEEE Computer Graphics and Applications, 23(6): 62-69, 2003.

[9] N. Cornelis, K. Cornelis and L.V. Gool, “Fast compact city modeling for navigation pre-visualization”, CVPR, 2006.

[10] H. Kawasaki, A. Miyamoto, Y. Ohsawa, S. Ono and K. Ikeuchi: “Multiple video camera calibration using EPI for city modeling”, ACCV, Vol. 1, pp. 569-574 (2004).

[11] Anthony Whitehead , Robert Laganiere , “Temporal Synchronization of Video Sequences in Theory and in Practice”, IEEE Workshop on Motion and Video Computing, Vol.2, pp.

132-137,2005

[12] Ushizaki.M et al. “Video Synchronization Based on Co-occurrence of Appearance Changes in Video Sequences”, Proc of ICPR, Vol.3, pp. 71-74,2006

[13] Shigang Li, “Monitoring around a vehicle by a full-view spherical image sensor”, IEEE Trans.

On Intelligent Transportation System, Vol.7 No. 4, pp.541-550, 2006.

[14] D.A. Forsyth and J. Ponce, Computer Vision A Modern Approach, Prentice Hall, 2003.

[15] http://www.skybird.ele.tottori-u.ac.jp/data/iieej2009/googleMap.html [16] J. Shi and C. Tomasi, “Good Features to track”, CVPR, pp. 593-600, 2004.

[17] J. Y. Bouguet, “Pyramidal Implementation of the Lucas Kanade Feature Tracker: Description of the algorithm”, Intel Corporation, Microprocessor Research Labs, 2000

[18] http://sourceforge.net/projects/opencvlibrary/

35

╙྾┨ ోᄤ๟↹௝ߩ⴫⃻ᴺ

ᄢ㊂ߩోᄤ๟↹௝ࠍ଻ሽ㧘࿶❗㧘ォㅍ㧘ಣℂߔࠆߚ߼ߦ᦭ലߥోᄤ๟

↹௝⴫⃻ᴺ߇ᔅⷐߢ޽ࠆ㧚ోᄤ๟↹௝ߪࠃߊ⃿㕙↹௝ࠍ↪޿ߡ⴫⃻ߐࠇࠆ㧚 ᧄ┨ߢߪ㧘ోᄤ๟↹௝ࠍ⴫⃻ߔࠆ⃿㕙↹௝ߩࡈࠜ࡯ࡑ࠶࠻SIF㧔Spherical

Image Format㧕ࠍឭ᩺ߔࠆ㧚SIFߪ᷹࿾ቇࡕ࠺࡞ߩ⃿㕙᭴ㅧߦၮߠߊࠦ

ࡦࡄࠢ࠻ߥ⍱ᒻੑᰴర㈩೉ߢ⴫ߒ㧘ߘߩ2ᰴర㈩೉ߢߪᵈ⋡ߐࠇࠆ↹⚛ߦ ኻߔࠆ㓞ធ↹⚛ࠍ◲නߦ▚಴ߢ߈ࠆ߁߃㧘⃿㕙ᐳᮡߣ⃿㕙↹௝↹⚛ߩ㑆ߩ ౮௝ࠍⴕ߁ߎߣ߽น⢻ߢ޽ࠆ㧚ᧄឭ᩺ᚻᴺߩᔕ↪଀ߣߒߡ㧘SIF↹௝ࠍ੺

ߒߡోᄤ๟↹௝߆ࠄ㜞ㅦߢㅘⷞ↹௝⴫␜ࠍⴕ߁ታ㛎⚿ᨐࠍ␜ߔ㧚

4.1 ߪߓ߼ߦ

ࡠࡏ࠶࠻߿ゞߥߤ⒖േ૕ߩⷞⷡ࠮ࡦࠨ࡯ߣߒߡߪ㧘๟ࠅߩࠪ࡯ࡦࠍⷒ߁ోᄤ๟↹௝ࠍ᠟

௝ߢ߈ࠆోᄤ๟ࠞࡔ࡜߇᦭↪ߢ޽ࠅ㧘ⅣႺࡑ࠶ࡊ᭴▽[1]㧘ⷞⷡ⋙ⷞ[3]㧘⒖േࡠࡏ࠶࠻㧘ゞ ߩㆇォ⵬ഥ [6]ߥߤߩ᭽ޘߥ⎇ⓥ㗔ၞߢᵴ↪ߐࠇߡ޿ࠆ㧚߹ߚ㧘Googleߩࠬ࠻࡝࡯࠻ࡆࡘ

࡯ߩࠃ߁ߥ઒ᗐⅣႺࡑ࠶ࡊߩ᭴▽ߦ߽ోᄤ๟↹௝߇↪޿ࠄࠇߡ޿ࠆ㧚

ోᄤ๟↹௝ࠍ₪ᓧߔࠆᚻᴺߣߒߡߪ㧘1บߩࠞࡔ࡜ߢ๟࿐ࠍ᠟௝ߒߚⶄᢙߩ↹௝ࠍ1ᨎ

࿑4.1 㝼⌒ࠞࡔ࡜߆ࠄ૞ᚑߔࠆోᄤ๟↹௝ߩ૛ಽ㗔ၞߣ㊀ߥࠆ㗔ၞ

૛ಽ㗔ၞ

㊀ߥࠆ㗔ၞ

ߩోᄤ๟↹௝ߦวᚑߔࠆᚻᴺ[1][2]ߣ㧘๟࿐ߩࠪ࡯ࡦࠍⶄᢙߩࠞࡔ࡜ߢหᤨߦ᠟௝ߔࠆᚻᴺ

[3][4][2]ߣ㧘1 บߩࠞࡔ࡜ߢ⇣ߥࠆⷞ㊁ࠍⷒ߁ⶄᢙߩ࡟ࡦ࠭߆ࠄߩ௝ࠍ᠟௝ߔࠆᚻᴺ[6]ߦ

ᄢ೎ߢ߈ࠆ㧚ࠁ߃ߦ㧘1 ߟߩోᄤ๟↹௝ߪⶄᢙߩሶ↹௝߆ࠄ᭴ᚑߐࠇࠆ㧚ᄤ๟↹௝࠺࡯࠲

ࠍ᦭ല⊛ߦ଻ሽߣォㅍߔࠆߩߪ㊀ⷐߥ⺖㗴ߢ޽ࠆ㧚

࿑4.1ߪ㧘╙ੑ┨ߢឭ᩺ߒߚ৻ኻߩ㝼⌒↹௝߆ࠄోᄤ๟↹௝ࠍ₪ᓧߔࠆ଀ࠍ␜ߔ㧚ߘߩ

ోᄤ๟↹௝ߪ㧘2 ᨎߩ㝼⌒↹௝߆ࠄ᭴ᚑߐࠇߡ߅ࠅ㧘ߘࠇߙࠇߩ㝼⌒↹௝ߦߪ㐳ᣇᒻߩ CCD᧼ߢ౞ᒻߩඨ⃿ⷞ㊁ߩࠪ࡯ࡦࠍ᠟௝ߔࠆߎߣߦࠃߞߡ↢ߓࠆ૛ಽߥ㗔ၞߣ㧘↹௝ࠍߟ ߥ߉วࠊߖࠆߚ߼ߦ↢ߓࠆ㊀ⶄߥ㗔ၞ߇฽߹ࠇࠆ㧚਄⸥ߩ଀ߢߪ㧘㧝ߟߩోᄤ๟↹௝ߪ㧞 ߟߩ㝼⌒ሶ↹௝߆ࠄߥࠆ㧚߹ߚ㧘ోᄤ๟↹௝ߦಣℂࠍᣉߔߦߪ㧘ࠞࡔ࡜ߩౝㇱࡄ࡜ࡔ࡯࠲㧘 ሶ↹௝㑆ߩ⋧ኻᆫ൓ࡄ࡜ࡔ࡯࠲߇ᔅⷐߢ޽ࠆ㧚

ߎࠇߦኻߒߡߪ㧘ࠞࡔ࡜ࡄ࡜ࡔ࡯࠲ࠍ↪޿ߡోᄤ๟↹௝ࠍ⃿㕙↹௝ߦ౮௝ߔࠆߎߣ߇ߢ ߈ࠆ㧚౮௝ߐࠇߚ⃿㕙↹௝ߢߪࠞࡔ࡜ࡄ࡜ࡔ࡯࠲߇⃻ࠇߥߊߥࠆ㧚හߜ㧘⃿㕙↹௝߇ᱜⷙ ൻߐࠇߚోᄤ๟↹௝ߣ⷗ߥߔߎߣ߇ߢ߈ࠆ㧚߽ߒ᠟௝ߐࠇߚోᄤ๟↹௝ࠍ⃿㕙↹௝ߦᄌ឵

ߒߡ଻ሽߔࠇ߫㧘ᓟಣℂߪ࿑4.1ߦ␜ߔ૛ಽ㗔ၞߣ㊀ⶄ㗔ၞߩࠃ߁ߥ౬㐳ߥ࠺࡯࠲ࠍᜬߚ ߥ޿㧘᠟௝ࠞࡔ࡜ߩࡄ࡜ࡔ࡯࠲ߣή㑐ଥߥ⃿㕙↹௝ߦኻߒߡᣉߖ߫ࠃ޿㧚

ᧄ┨ߢߪ౬㐳ߥ࠺࡯࠲߇ߥ޿ోᄤ๟↹௝ᖱႎߛߌߦ⌕⋡ߒ㧘ౕ૕⊛ߥ᠟௝࠺ࡃࠗࠬߦଐ ሽߒߥ޿ోᄤ๟↹௝ࠍ⴫⃻ߔࠆ⃿㕙↹௝ࡈࠜ࡯ࡑ࠶࠻SIFࠍឭ᩺ߔࠆ㧚᠟௝࠺ࡃࠗࠬ߆ࠄ

ోᄤ๟↹௝ࠍࠞࡔ࡜ࡄ࡜ࡔ࡯࠲ࠍ↪޿ߡ᷹࿾ቇࡕ࠺࡞ߩ⃿㕙᭴ㅧ[6]ߦၮߠߊ⃿㕙↹௝ߦ ౮௝ߒ㧘⃿㕙↹௝ࠍ㧝ߟߩࠦࡦࡄࠢ࠻ߥ2ᰴర㈩೉SIF↹௝ߢ⴫⃻ߔࠆ㧚ߘߩ2ᰴర㈩೉

ߢᵈ⋡ߐࠇࠆ↹⚛ߦኻߔࠆ㓞ធ↹⚛ࠍ◲නߦ▚಴ߢ߈ࠆ߁߃㧘⃿㕙ᐳᮡߣ⃿㕙↹௝↹⚛ߩ 㑆ߩ౮௝ࠍⴕ߁ߎߣ߽น⢻ߢ޽ࠆ㧚ឭ᩺ᚻᴺߩᔕ↪଀ߣߒߡ㧘SIF↹௝ࠍ੺ߒߡోᄤ๟↹

(a) (b) (c)

࿑4.2 ᱜ20㕙૕߆ࠄߩ᷹࿾࠼࡯ࡓಽഀㆊ⒟