最適投影位置決定のための投影優先度付き 3 次元マップの生成

抄録

We have developed a mobile projection robot Ubiquitous Display(UD) that consists of omni wheel platform, laser range finder, projector with pan-tilt mechanism and RGB-D camera. This structure enables UD to project images on any surfaces such as a wall, a floor and various objects. In this paper, we propose a system that allows UD to decide the optimal projection surface by using a 3D priority projection map. A 3D priority projection map is composed of 3D point cloud. Priorities of a 3D priority projection map is evaluated in terms of flatness, color value and color homogeneity. We verified usefulness of proposed system by using a corridor and a room 3D point cloud data. Experiments shows the effectiveness of the proposed system.